{
    "0": {
        "acceleration": [
            0.0018573910929262638,
            0.00046622822992503643,
            -0.5828729271888733
        ],
        "angular_velocity": [
            0.037702787667512894,
            0.030923370271921158,
            8.621775486972183e-05
        ],
        "forward_vector": [
            -0.000649375666398555,
            -0.9999982714653015,
            -0.0017294874414801598
        ],
        "right_vector": [
            0.9999997615814209,
            -0.0006495516863651574,
            0.00010119989747181535
        ],
        "location": [
            -2502.509521484375,
            5235.4833984375,
            378.6334533691406
        ],
        "rotation": [
            -0.005798335652798414,
            -0.09909237921237946,
            -90.0372085571289
        ],
        "velocity": [
            0.00024060247233137488,
            -0.000504051975440234,
            0.20542725920677185
        ],
        "speed": 0.0005585319539983117,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -7.460499182343483e-05,
        "expert_target_speed": 20.0,
        "target_point": [
            51.00001073596663,
            -0.002716394391142702
        ],
        "target_point_next": [
            102.87828400132294,
            0.2548578895459074
        ]
    },
    "5": {
        "acceleration": [
            -0.0006521932664327323,
            0.001430675620213151,
            -0.3874623775482178
        ],
        "angular_velocity": [
            0.0066215880215168,
            0.02130897343158722,
            3.467145870672539e-05
        ],
        "forward_vector": [
            -0.0006492563406936824,
            -0.9999980926513672,
            -0.0018247354310005903
        ],
        "right_vector": [
            0.9999997615814209,
            -0.0006493293913081288,
            3.9414790080627427e-05
        ],
        "location": [
            -2502.509521484375,
            5235.4833984375,
            378.6658020019531
        ],
        "rotation": [
            -0.0022583049722015858,
            -0.10454969853162766,
            -90.03720092773438
        ],
        "velocity": [
            0.00016518284974154085,
            -0.0001571438042446971,
            0.07174883037805557
        ],
        "speed": 0.00022799023896042598,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000027656555176,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.51904296875,
                5220.4833984375,
                378.6387939453125
            ],
            "velocity": [
                -0.00010997283970937133,
                0.001057112356647849,
                -0.4144209921360016
            ],
            "speed_kmh": 1.491920477912272,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5138317346572876,
                "transform": {
                    "location": {
                        "x": -2498.989990234375,
                        "y": 5265.48095703125,
                        "z": 378.717529296875
                    },
                    "rotation": {
                        "roll": 4.3582531361607835e-05,
                        "pitch": -0.09325939416885376,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": -2.1813352759636473e-06,
                    "y": 0.0008283495553769171,
                    "z": -0.5138310790061951
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.414572536945343,
                "transform": {
                    "location": {
                        "x": -2498.99951171875,
                        "y": 5250.48095703125,
                        "z": 378.6966247558594
                    },
                    "rotation": {
                        "roll": -0.00015258554776664823,
                        "pitch": -0.09277445077896118,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": -7.868634384067263e-06,
                    "y": 0.0006625402020290494,
                    "z": -0.4145720303058624
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3574579656124115,
                "transform": {
                    "location": {
                        "x": -2499.01904296875,
                        "y": 5220.48193359375,
                        "z": 378.65045166015625
                    },
                    "rotation": {
                        "roll": -0.00042724842205643654,
                        "pitch": -0.14757989346981049,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": -1.4209427718014922e-05,
                    "y": 0.0008578948327340186,
                    "z": -0.3574569523334503
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4351666569709778,
                "transform": {
                    "location": {
                        "x": -2499.029052734375,
                        "y": 5205.48193359375,
                        "z": 378.61553955078125
                    },
                    "rotation": {
                        "roll": 0.0009542100597172976,
                        "pitch": -0.18002328276634216,
                        "yaw": -90.0372314453125
                    }
                },
                "velocity": {
                    "x": 7.240325430757366e-06,
                    "y": 0.0012934906408190727,
                    "z": -0.43516474962234497
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4144906997680664,
                "transform": {
                    "location": {
                        "x": -2502.489990234375,
                        "y": 5265.48291015625,
                        "z": 378.7208557128906
                    },
                    "rotation": {
                        "roll": 0.0005892512854188681,
                        "pitch": -0.09302034229040146,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 1.1056596122216433e-05,
                    "y": 0.0006688347202725708,
                    "z": -0.4144901633262634
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45511090755462646,
                "transform": {
                    "location": {
                        "x": -2502.49951171875,
                        "y": 5250.48291015625,
                        "z": 378.7040100097656
                    },
                    "rotation": {
                        "roll": -0.0004882824141532183,
                        "pitch": -0.09219388663768768,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 4.292835728847422e-05,
                    "y": 0.0007277850527316332,
                    "z": -0.4551103115081787
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4144223630428314,
                "transform": {
                    "location": {
                        "x": -2502.51904296875,
                        "y": 5220.4833984375,
                        "z": 378.6387939453125
                    },
                    "rotation": {
                        "roll": 0.000312862335704267,
                        "pitch": -0.14654169976711273,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": -0.00010997283970937133,
                    "y": 0.001057112356647849,
                    "z": -0.4144209921360016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4570099711418152,
                "transform": {
                    "location": {
                        "x": -2502.529052734375,
                        "y": 5205.4833984375,
                        "z": 378.60400390625
                    },
                    "rotation": {
                        "roll": -0.0004272490041330457,
                        "pitch": -0.1774824559688568,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": -0.00012624547525774688,
                    "y": 0.0013916207244619727,
                    "z": -0.45700782537460327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43436309695243835,
                "transform": {
                    "location": {
                        "x": -2505.989990234375,
                        "y": 5265.4853515625,
                        "z": 378.73974609375
                    },
                    "rotation": {
                        "roll": -9.155066800303757e-05,
                        "pitch": -0.09420879185199738,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": -7.846703374525532e-05,
                    "y": 0.000685087637975812,
                    "z": -0.434362530708313
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35591500997543335,
                "transform": {
                    "location": {
                        "x": -2505.99951171875,
                        "y": 5250.4853515625,
                        "z": 378.7082824707031
                    },
                    "rotation": {
                        "roll": 0.0005460522952489555,
                        "pitch": -0.09274030476808548,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.00037246342981234193,
                    "y": 0.0005411295569501817,
                    "z": -0.3559143841266632
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23290933668613434,
                "transform": {
                    "location": {
                        "x": -2506.01904296875,
                        "y": 5220.486328125,
                        "z": 378.6864013671875
                    },
                    "rotation": {
                        "roll": 0.0006896912236697972,
                        "pitch": -0.146999329328537,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": -6.6707594669424e-05,
                    "y": 0.0005439649685285985,
                    "z": -0.2329086810350418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5160570740699768,
                "transform": {
                    "location": {
                        "x": -2506.029052734375,
                        "y": 5205.486328125,
                        "z": 378.59283447265625
                    },
                    "rotation": {
                        "roll": 0.0004291167133487761,
                        "pitch": -0.1781313270330429,
                        "yaw": -90.0372314453125
                    }
                },
                "velocity": {
                    "x": 6.991149712121114e-05,
                    "y": 0.0015965966740623116,
                    "z": -0.5160545706748962
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0008308604592457414,
        "expert_target_speed": 1.0948649523439054,
        "target_point": [
            51.00001076903586,
            0.002001433450158671
        ],
        "target_point_next": [
            102.87825998514772,
            0.26437478902716594
        ]
    },
    "10": {
        "acceleration": [
            0.0010072608711197972,
            0.0004557427018880844,
            -0.12041088193655014
        ],
        "angular_velocity": [
            0.0019304492743685842,
            0.001176319201476872,
            -1.1316453310428187e-05
        ],
        "forward_vector": [
            -0.0006492563406936824,
            -0.9999980330467224,
            -0.001870154170319438
        ],
        "right_vector": [
            0.9999997615814209,
            -0.0006492952816188335,
            2.0239967852830887e-05
        ],
        "location": [
            -2502.509521484375,
            5235.4833984375,
            378.6756286621094
        ],
        "rotation": [
            -0.00115966668818146,
            -0.10715200006961823,
            -90.03720092773438
        ],
        "velocity": [
            8.00296948000323e-06,
            -4.517188062891364e-05,
            0.019123079255223274
        ],
        "speed": 4.587533454974129e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000072479248047,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.51904296875,
                5220.4833984375,
                378.63006591796875
            ],
            "velocity": [
                -9.196601240546443e-06,
                -0.0001403910428052768,
                0.051030006259679794
            ],
            "speed_kmh": 0.18370872074233688,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10463754087686539,
                "transform": {
                    "location": {
                        "x": -2498.989990234375,
                        "y": 5265.48095703125,
                        "z": 378.7087097167969
                    },
                    "rotation": {
                        "roll": 0.00013442616909742355,
                        "pitch": -0.09305449575185776,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 4.999221346224658e-05,
                    "y": -0.00017371730064041913,
                    "z": 0.10463738441467285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.05129646137356758,
                "transform": {
                    "location": {
                        "x": -2498.99951171875,
                        "y": 5250.48095703125,
                        "z": 378.6878967285156
                    },
                    "rotation": {
                        "roll": 0.0009470296208746731,
                        "pitch": -0.09274030476808548,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.00011725083459168673,
                    "y": -7.513850869145244e-05,
                    "z": 0.05129627510905266
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.043573759496212006,
                "transform": {
                    "location": {
                        "x": -2499.01904296875,
                        "y": 5220.48193359375,
                        "z": 378.64300537109375
                    },
                    "rotation": {
                        "roll": -9.154751751339063e-05,
                        "pitch": -0.1478872448205948,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": -0.00011697953596012667,
                    "y": -5.272544876788743e-05,
                    "z": 0.043573569506406784
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02792963758111,
                "transform": {
                    "location": {
                        "x": -2499.029052734375,
                        "y": 5205.48193359375,
                        "z": 378.59136962890625
                    },
                    "rotation": {
                        "roll": 0.00019063259242102504,
                        "pitch": -0.18081559240818024,
                        "yaw": -90.0372314453125
                    }
                },
                "velocity": {
                    "x": 0.00012056573905283585,
                    "y": -0.00011287062807241455,
                    "z": 0.027929147705435753
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.05110517516732216,
                "transform": {
                    "location": {
                        "x": -2502.489990234375,
                        "y": 5265.48291015625,
                        "z": 378.71209716796875
                    },
                    "rotation": {
                        "roll": 0.0009924096520990133,
                        "pitch": -0.09350528568029404,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 6.053485776646994e-05,
                    "y": -9.913632675306872e-05,
                    "z": 0.05110504478216171
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09454284608364105,
                "transform": {
                    "location": {
                        "x": -2502.49951171875,
                        "y": 5250.48291015625,
                        "z": 378.6969299316406
                    },
                    "rotation": {
                        "roll": -3.0515775506501086e-05,
                        "pitch": -0.09213241934776306,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 1.9602575775934383e-05,
                    "y": -0.0001637665118323639,
                    "z": 0.09454270452260971
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.051030199974775314,
                "transform": {
                    "location": {
                        "x": -2502.51904296875,
                        "y": 5220.4833984375,
                        "z": 378.63006591796875
                    },
                    "rotation": {
                        "roll": 5.633589898934588e-05,
                        "pitch": -0.14666464924812317,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": -9.196601240546443e-06,
                    "y": -0.0001403910428052768,
                    "z": 0.051030006259679794
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09454474598169327,
                "transform": {
                    "location": {
                        "x": -2502.529052734375,
                        "y": 5205.4833984375,
                        "z": 378.5968322753906
                    },
                    "rotation": {
                        "roll": -0.00045776492333970964,
                        "pitch": -0.1769087165594101,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.00014808663399890065,
                    "y": -0.00030359765514731407,
                    "z": 0.09454414248466492
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027440911158919334,
                "transform": {
                    "location": {
                        "x": -2505.989990234375,
                        "y": 5265.4853515625,
                        "z": 378.7156066894531
                    },
                    "rotation": {
                        "roll": -0.00015258889470715076,
                        "pitch": -0.09493962675333023,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": -7.044367521302775e-05,
                    "y": -3.809561894740909e-05,
                    "z": 0.027440793812274933
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04435186833143234,
                "transform": {
                    "location": {
                        "x": -2505.99951171875,
                        "y": 5250.4853515625,
                        "z": 378.7007751464844
                    },
                    "rotation": {
                        "roll": 0.0007819642778486013,
                        "pitch": -0.0928700789809227,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0002309431292815134,
                    "y": -0.00011272622214164585,
                    "z": 0.04435112327337265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02442784793674946,
                "transform": {
                    "location": {
                        "x": -2506.01904296875,
                        "y": 5220.486328125,
                        "z": 378.67999267578125
                    },
                    "rotation": {
                        "roll": 0.0006692340248264372,
                        "pitch": -0.14749109745025635,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.00012561479525174946,
                    "y": -6.903467874508351e-05,
                    "z": 0.024427426978945732
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10620218515396118,
                "transform": {
                    "location": {
                        "x": -2506.029052734375,
                        "y": 5205.486328125,
                        "z": 378.5842590332031
                    },
                    "rotation": {
                        "roll": -6.103176565375179e-05,
                        "pitch": -0.1772502362728119,
                        "yaw": -90.0372314453125
                    }
                },
                "velocity": {
                    "x": 1.2525927559181582e-05,
                    "y": -0.0003352515632286668,
                    "z": 0.1062016561627388
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0008040729444473982,
        "expert_target_speed": 1.0426273820828618,
        "target_point": [
            51.00001073596663,
            -0.002716394391142702
        ],
        "target_point_next": [
            102.87828400132294,
            0.2548578895459074
        ]
    },
    "15": {
        "acceleration": [
            0.0012579539325088263,
            0.00037766993045806885,
            -0.015067467465996742
        ],
        "angular_velocity": [
            -0.0025902658235281706,
            0.015018503181636333,
            -3.958920387958642e-06
        ],
        "forward_vector": [
            -0.0006492562824860215,
            -0.9999979734420776,
            -0.0018812405178323388
        ],
        "right_vector": [
            0.9999997615814209,
            -0.0006492594256997108,
            1.0652582886905293e-06
        ],
        "location": [
            -2502.509521484375,
            5235.4833984375,
            378.67803955078125
        ],
        "rotation": [
            -6.103491614339873e-05,
            -0.10778720676898956,
            -90.03720092773438
        ],
        "velocity": [
            4.1256931581301615e-05,
            -4.34657567893737e-06,
            0.004904328379780054
        ],
        "speed": 4.1485263933557566e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.1001558303833,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.5185546875,
                5220.38330078125,
                378.63720703125
            ],
            "velocity": [
                0.007034020964056253,
                -1.102165699005127,
                0.015525932423770428
            ],
            "speed_kmh": 3.9682709699304124,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.02354564517736435,
                "transform": {
                    "location": {
                        "x": -2498.989990234375,
                        "y": 5265.48095703125,
                        "z": 378.7242126464844
                    },
                    "rotation": {
                        "roll": 9.919128206092864e-05,
                        "pitch": -0.09289740025997162,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": -1.3114112334733363e-05,
                    "y": -3.940457463613711e-05,
                    "z": 0.023545607924461365
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1051347255706787,
                "transform": {
                    "location": {
                        "x": -2498.9990234375,
                        "y": 5250.38671875,
                        "z": 378.6951599121094
                    },
                    "rotation": {
                        "roll": -0.0023193371016532183,
                        "pitch": -0.026794830337166786,
                        "yaw": -89.9937744140625
                    }
                },
                "velocity": {
                    "x": 0.010187364183366299,
                    "y": -1.1049582958221436,
                    "z": 0.016912927851080894
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2572293281555176,
                "transform": {
                    "location": {
                        "x": -2499.018310546875,
                        "y": 5220.36474609375,
                        "z": 378.6493225097656
                    },
                    "rotation": {
                        "roll": -0.004486087244004011,
                        "pitch": 0.05744188651442528,
                        "yaw": -90.04834747314453
                    }
                },
                "velocity": {
                    "x": 0.008007709868252277,
                    "y": -1.2571781873703003,
                    "z": 0.008024501614272594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9189501404762268,
                "transform": {
                    "location": {
                        "x": -2499.02880859375,
                        "y": 5205.41357421875,
                        "z": 378.5981140136719
                    },
                    "rotation": {
                        "roll": -0.005554198287427425,
                        "pitch": 0.03330400213599205,
                        "yaw": -89.97982025146484
                    }
                },
                "velocity": {
                    "x": 0.0069202762097120285,
                    "y": -0.918708324432373,
                    "z": 0.01991249993443489
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2685644626617432,
                "transform": {
                    "location": {
                        "x": -2502.48876953125,
                        "y": 5265.388671875,
                        "z": 378.7193298339844
                    },
                    "rotation": {
                        "roll": -0.002960205078125,
                        "pitch": -0.023803208023309708,
                        "yaw": -90.0274887084961
                    }
                },
                "velocity": {
                    "x": 0.02146797627210617,
                    "y": -1.2682732343673706,
                    "z": 0.01666925475001335
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.021124081686139107,
                "transform": {
                    "location": {
                        "x": -2502.49951171875,
                        "y": 5250.48291015625,
                        "z": 378.7108459472656
                    },
                    "rotation": {
                        "roll": 5.801999577670358e-05,
                        "pitch": -0.09210509806871414,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 8.647195500088856e-06,
                    "y": -3.0197463274816982e-05,
                    "z": 0.021124057471752167
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1022975444793701,
                "transform": {
                    "location": {
                        "x": -2502.5185546875,
                        "y": 5220.38330078125,
                        "z": 378.63720703125
                    },
                    "rotation": {
                        "roll": -0.0018920908914878964,
                        "pitch": -0.07934630662202835,
                        "yaw": -90.007568359375
                    }
                },
                "velocity": {
                    "x": 0.007034020964056253,
                    "y": -1.102165699005127,
                    "z": 0.015525932423770428
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020346341654658318,
                "transform": {
                    "location": {
                        "x": -2502.529052734375,
                        "y": 5205.4833984375,
                        "z": 378.6108093261719
                    },
                    "rotation": {
                        "roll": -0.0003356880333740264,
                        "pitch": -0.17742781341075897,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 7.069361890899017e-05,
                    "y": -6.254333857214078e-05,
                    "z": 0.02034612186253071
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.929817259311676,
                "transform": {
                    "location": {
                        "x": -2505.9892578125,
                        "y": 5265.41552734375,
                        "z": 378.722412109375
                    },
                    "rotation": {
                        "roll": -0.010681160725653172,
                        "pitch": 0.1246236264705658,
                        "yaw": -89.96978759765625
                    }
                },
                "velocity": {
                    "x": 0.011300302110612392,
                    "y": -0.9294796586036682,
                    "z": 0.0223624799400568
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2782055139541626,
                "transform": {
                    "location": {
                        "x": -2505.998779296875,
                        "y": 5250.37060546875,
                        "z": 378.7072448730469
                    },
                    "rotation": {
                        "roll": -0.00506590586155653,
                        "pitch": 0.11362019181251526,
                        "yaw": -90.04817962646484
                    }
                },
                "velocity": {
                    "x": 0.008823751471936703,
                    "y": -1.278133511543274,
                    "z": 0.01031242311000824
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9404304027557373,
                "transform": {
                    "location": {
                        "x": -2506.018798828125,
                        "y": 5220.41845703125,
                        "z": 378.6828308105469
                    },
                    "rotation": {
                        "roll": -0.002563477260991931,
                        "pitch": -0.0716213583946228,
                        "yaw": -90.01547241210938
                    }
                },
                "velocity": {
                    "x": 0.009441232308745384,
                    "y": -0.940372884273529,
                    "z": 0.004369411151856184
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.02317422442138195,
                "transform": {
                    "location": {
                        "x": -2506.029052734375,
                        "y": 5205.486328125,
                        "z": 378.5999450683594
                    },
                    "rotation": {
                        "roll": 0.0001853898138506338,
                        "pitch": -0.17742781341075897,
                        "yaw": -90.0372314453125
                    }
                },
                "velocity": {
                    "x": 8.168425847543404e-05,
                    "y": -7.838334568077698e-05,
                    "z": 0.023173948749899864
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.001696371124126017,
        "expert_target_speed": 1.0343545297820624,
        "target_point": [
            51.00001073596663,
            -0.002716394391142702
        ],
        "target_point_next": [
            102.87828400132294,
            0.2548578895459074
        ]
    },
    "20": {
        "acceleration": [
            0.002412515925243497,
            -6.032549208612181e-05,
            -0.00998093280941248
        ],
        "angular_velocity": [
            -0.0031953826546669006,
            0.01690708100795746,
            3.865625330945477e-06
        ],
        "forward_vector": [
            -0.0006492562824860215,
            -0.9999979734420776,
            -0.0018807636806741357
        ],
        "right_vector": [
            0.9999997615814209,
            -0.0006492594256997108,
            1.0652582886905293e-06
        ],
        "location": [
            -2502.509521484375,
            5235.4833984375,
            378.678466796875
        ],
        "rotation": [
            -6.103491614339873e-05,
            -0.10775988548994064,
            -90.03720092773438
        ],
        "velocity": [
            5.550903006223962e-05,
            3.4979357224074192e-06,
            0.0017051298636943102
        ],
        "speed": 5.561913315369735e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.436090469360352,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.516845703125,
                5220.04736328125,
                378.6378479003906
            ],
            "velocity": [
                0.028035657480359077,
                -1.879860758781433,
                -0.0025365448091179132
            ],
            "speed_kmh": 6.768257456912284,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.108296513557434,
                "transform": {
                    "location": {
                        "x": -2498.989013671875,
                        "y": 5265.3603515625,
                        "z": 378.7252197265625
                    },
                    "rotation": {
                        "roll": -0.0007324247853830457,
                        "pitch": -0.06212739646434784,
                        "yaw": -90.0294418334961
                    }
                },
                "velocity": {
                    "x": 0.010025504976511002,
                    "y": -1.1082477569580078,
                    "z": -0.0027618790045380592
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5529106855392456,
                "transform": {
                    "location": {
                        "x": -2498.99560546875,
                        "y": 5250.0849609375,
                        "z": 378.6964111328125
                    },
                    "rotation": {
                        "roll": -0.0014648443320766091,
                        "pitch": -0.052551474422216415,
                        "yaw": -89.9735336303711
                    }
                },
                "velocity": {
                    "x": 0.01661098003387451,
                    "y": -1.5528216361999512,
                    "z": -0.0006655025063082576
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.709916830062866,
                "transform": {
                    "location": {
                        "x": -2499.014892578125,
                        "y": 5219.85888671875,
                        "z": 378.64935302734375
                    },
                    "rotation": {
                        "roll": -0.0066528297029435635,
                        "pitch": 0.13752585649490356,
                        "yaw": -89.94928741455078
                    }
                },
                "velocity": {
                    "x": 0.019679585471749306,
                    "y": -2.709841012954712,
                    "z": -0.004940137732774019
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9074630737304688,
                "transform": {
                    "location": {
                        "x": -2499.02587890625,
                        "y": 5205.0400390625,
                        "z": 378.5997619628906
                    },
                    "rotation": {
                        "roll": -0.011077884584665298,
                        "pitch": 0.22558747231960297,
                        "yaw": -89.87820434570312
                    }
                },
                "velocity": {
                    "x": 0.01690184511244297,
                    "y": -1.9073874950408936,
                    "z": 0.0016232108464464545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.634946584701538,
                "transform": {
                    "location": {
                        "x": -2502.486328125,
                        "y": 5265.0498046875,
                        "z": 378.7205505371094
                    },
                    "rotation": {
                        "roll": -0.0009155275183729827,
                        "pitch": -0.05176600068807602,
                        "yaw": -89.91531372070312
                    }
                },
                "velocity": {
                    "x": 0.0162549689412117,
                    "y": -1.6348655223846436,
                    "z": -0.0008013248443603516
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.205805778503418,
                "transform": {
                    "location": {
                        "x": -2502.498046875,
                        "y": 5250.24755859375,
                        "z": 378.71337890625
                    },
                    "rotation": {
                        "roll": 0.005175665020942688,
                        "pitch": -0.28244197368621826,
                        "yaw": -89.939208984375
                    }
                },
                "velocity": {
                    "x": 0.023117782548069954,
                    "y": -2.2056801319122314,
                    "z": -0.0043817805126309395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8800715208053589,
                "transform": {
                    "location": {
                        "x": -2502.516845703125,
                        "y": 5220.04736328125,
                        "z": 378.6378479003906
                    },
                    "rotation": {
                        "roll": -0.0029602095019072294,
                        "pitch": -0.08261113613843918,
                        "yaw": -89.89205169677734
                    }
                },
                "velocity": {
                    "x": 0.028035657480359077,
                    "y": -1.879860758781433,
                    "z": -0.0025365448091179132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.173130512237549,
                "transform": {
                    "location": {
                        "x": -2502.52734375,
                        "y": 5205.2578125,
                        "z": 378.6130065917969
                    },
                    "rotation": {
                        "roll": 0.00450979033485055,
                        "pitch": -0.36426079273223877,
                        "yaw": -89.96880340576172
                    }
                },
                "velocity": {
                    "x": 0.023203765973448753,
                    "y": -2.1729953289031982,
                    "z": -0.006999025121331215
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.951051115989685,
                "transform": {
                    "location": {
                        "x": -2505.986083984375,
                        "y": 5265.0498046875,
                        "z": 378.7246398925781
                    },
                    "rotation": {
                        "roll": -0.00885010790079832,
                        "pitch": 0.3113268315792084,
                        "yaw": -89.91537475585938
                    }
                },
                "velocity": {
                    "x": 0.01692366600036621,
                    "y": -1.9509719610214233,
                    "z": 0.004768562037497759
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6233949661254883,
                "transform": {
                    "location": {
                        "x": -2505.995361328125,
                        "y": 5249.8759765625,
                        "z": 378.707763671875
                    },
                    "rotation": {
                        "roll": -0.006652836687862873,
                        "pitch": 0.17893046140670776,
                        "yaw": -89.91185760498047
                    }
                },
                "velocity": {
                    "x": 0.01990499161183834,
                    "y": -2.6233184337615967,
                    "z": -0.0023690222296863794
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8474390506744385,
                "transform": {
                    "location": {
                        "x": -2506.01611328125,
                        "y": 5220.0625,
                        "z": 378.6824645996094
                    },
                    "rotation": {
                        "roll": -0.002990724751725793,
                        "pitch": -0.04440305754542351,
                        "yaw": -89.92033386230469
                    }
                },
                "velocity": {
                    "x": 0.018317684531211853,
                    "y": -1.8473459482192993,
                    "z": -0.0029470634181052446
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0972745418548584,
                "transform": {
                    "location": {
                        "x": -2506.0283203125,
                        "y": 5205.3662109375,
                        "z": 378.6008605957031
                    },
                    "rotation": {
                        "roll": -0.0012512225657701492,
                        "pitch": -0.14645974338054657,
                        "yaw": -90.01689910888672
                    }
                },
                "velocity": {
                    "x": 0.009494394063949585,
                    "y": -1.0972261428833008,
                    "z": -0.004009809345006943
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0018735281191766262,
        "expert_target_speed": 1.0427809131579098,
        "target_point": [
            51.00001073596663,
            -0.002716394391142702
        ],
        "target_point_next": [
            102.87828400132294,
            0.2548578895459074
        ]
    },
    "25": {
        "acceleration": [
            -0.005527975969016552,
            -3.3303236961364746,
            -0.02142772451043129
        ],
        "angular_velocity": [
            -1.1428834199905396,
            0.02897702343761921,
            -0.5798287987709045
        ],
        "forward_vector": [
            -0.0006751251057721674,
            -0.9999986290931702,
            0.0014857046771794558
        ],
        "right_vector": [
            0.9999997615814209,
            -0.0006751340697519481,
            -5.538749974220991e-06
        ],
        "location": [
            -2502.509521484375,
            5235.42138671875,
            378.67791748046875
        ],
        "rotation": [
            0.0003173473523929715,
            0.08512464165687561,
            -90.03868103027344
        ],
        "velocity": [
            -0.0003890753141604364,
            -0.7522610425949097,
            -0.0008449172601103783
        ],
        "speed": 0.7522611432113057,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.03569984436035,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.510498046875,
                5219.3857421875,
                378.63616943359375
            ],
            "velocity": [
                0.03553127869963646,
                -3.159407615661621,
                -0.0064333342015743256
            ],
            "speed_kmh": 11.37461023619117,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7549691200256348,
                "transform": {
                    "location": {
                        "x": -2498.986083984375,
                        "y": 5264.9912109375,
                        "z": 378.7243957519531
                    },
                    "rotation": {
                        "roll": -0.0009460451547056437,
                        "pitch": -0.06637577712535858,
                        "yaw": -89.96160125732422
                    }
                },
                "velocity": {
                    "x": 0.01672060787677765,
                    "y": -1.754887342453003,
                    "z": -0.0027169990353286266
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.03916597366333,
                "transform": {
                    "location": {
                        "x": -2498.989501953125,
                        "y": 5249.49072265625,
                        "z": 378.6952209472656
                    },
                    "rotation": {
                        "roll": -0.0027770991437137127,
                        "pitch": -0.0020763773936778307,
                        "yaw": -89.9266586303711
                    }
                },
                "velocity": {
                    "x": 0.036535125225782394,
                    "y": -3.03894305229187,
                    "z": -0.004490251652896404
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.245601177215576,
                "transform": {
                    "location": {
                        "x": -2499.0078125,
                        "y": 5218.9794921875,
                        "z": 378.6472473144531
                    },
                    "rotation": {
                        "roll": -0.009094241075217724,
                        "pitch": 0.16645853221416473,
                        "yaw": -89.75637817382812
                    }
                },
                "velocity": {
                    "x": 0.03592608496546745,
                    "y": -4.2454376220703125,
                    "z": -0.00979022029787302
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.00116229057312,
                "transform": {
                    "location": {
                        "x": -2499.02099609375,
                        "y": 5204.43408203125,
                        "z": 378.59869384765625
                    },
                    "rotation": {
                        "roll": -0.012146009132266045,
                        "pitch": 0.26721063256263733,
                        "yaw": -89.74541473388672
                    }
                },
                "velocity": {
                    "x": 0.028330747038125992,
                    "y": -3.0010201930999756,
                    "z": -0.007050847634673119
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.2469403743743896,
                "transform": {
                    "location": {
                        "x": -2502.4814453125,
                        "y": 5264.46923828125,
                        "z": 378.7193603515625
                    },
                    "rotation": {
                        "roll": -0.0027160642202943563,
                        "pitch": 0.002697924617677927,
                        "yaw": -89.76677703857422
                    }
                },
                "velocity": {
                    "x": 0.03582341969013214,
                    "y": -3.246739625930786,
                    "z": -0.004610242787748575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.348731517791748,
                "transform": {
                    "location": {
                        "x": -2502.49169921875,
                        "y": 5249.541015625,
                        "z": 378.7115783691406
                    },
                    "rotation": {
                        "roll": 0.001851316774263978,
                        "pitch": -0.23413203656673431,
                        "yaw": -89.78912353515625
                    }
                },
                "velocity": {
                    "x": 0.035074181854724884,
                    "y": -3.3485422134399414,
                    "z": -0.006099052261561155
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.159613847732544,
                "transform": {
                    "location": {
                        "x": -2502.510498046875,
                        "y": 5219.3857421875,
                        "z": 378.63616943359375
                    },
                    "rotation": {
                        "roll": -0.002532957587391138,
                        "pitch": -0.0627216249704361,
                        "yaw": -89.75801086425781
                    }
                },
                "velocity": {
                    "x": 0.03553127869963646,
                    "y": -3.159407615661621,
                    "z": -0.0064333342015743256
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3669259548187256,
                "transform": {
                    "location": {
                        "x": -2502.521240234375,
                        "y": 5204.55029296875,
                        "z": 378.6101989746094
                    },
                    "rotation": {
                        "roll": 0.001676037791185081,
                        "pitch": -0.32416075468063354,
                        "yaw": -89.79874420166016
                    }
                },
                "velocity": {
                    "x": 0.03541826456785202,
                    "y": -3.3667237758636475,
                    "z": -0.010318011976778507
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.01408314704895,
                "transform": {
                    "location": {
                        "x": -2505.98095703125,
                        "y": 5264.4228515625,
                        "z": 378.7243957519531
                    },
                    "rotation": {
                        "roll": -0.00839234795421362,
                        "pitch": 0.3609071671962738,
                        "yaw": -89.80809783935547
                    }
                },
                "velocity": {
                    "x": 0.02752629481256008,
                    "y": -3.013956308364868,
                    "z": -0.0024321936070919037
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.242915153503418,
                "transform": {
                    "location": {
                        "x": -2505.988037109375,
                        "y": 5249.00634765625,
                        "z": 378.7066345214844
                    },
                    "rotation": {
                        "roll": -0.007934555411338806,
                        "pitch": 0.23010222613811493,
                        "yaw": -89.73104858398438
                    }
                },
                "velocity": {
                    "x": 0.03620043396949768,
                    "y": -4.242756366729736,
                    "z": -0.005963935516774654
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.056767702102661,
                "transform": {
                    "location": {
                        "x": -2506.010986328125,
                        "y": 5219.4501953125,
                        "z": 378.6808166503906
                    },
                    "rotation": {
                        "roll": -0.003021240932866931,
                        "pitch": -0.024199359118938446,
                        "yaw": -89.78412628173828
                    }
                },
                "velocity": {
                    "x": 0.031413376331329346,
                    "y": -3.056598663330078,
                    "z": -0.006804904900491238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7879449129104614,
                "transform": {
                    "location": {
                        "x": -2506.02587890625,
                        "y": 5204.99169921875,
                        "z": 378.599365234375
                    },
                    "rotation": {
                        "roll": -0.0013427770463749766,
                        "pitch": -0.1499977707862854,
                        "yaw": -89.9005126953125
                    }
                },
                "velocity": {
                    "x": 0.0174822099506855,
                    "y": -1.7878490686416626,
                    "z": -0.006075382232666016
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0005106607568450272,
        "expert_target_speed": 1.8000724356955573,
        "target_point": [
            50.93799906505996,
            0.001958627671986457
        ],
        "target_point_next": [
            102.81624828117182,
            0.2643319832489937
        ]
    },
    "30": {
        "acceleration": [
            -0.00429091090336442,
            -3.36550235748291,
            0.011593056842684746
        ],
        "angular_velocity": [
            -0.12120033800601959,
            -0.0023904189001768827,
            0.08757390081882477
        ],
        "forward_vector": [
            -0.000910675385966897,
            -0.9999908208847046,
            0.004185664001852274
        ],
        "right_vector": [
            0.9999995827674866,
            -0.0009107163059525192,
            -7.869674846006092e-06
        ],
        "location": [
            -2502.50927734375,
            5235.103515625,
            378.67669677734375
        ],
        "rotation": [
            0.000450903142336756,
            0.23982158303260803,
            -90.05217742919922
        ],
        "velocity": [
            -0.0005564076127484441,
            -1.6658741235733032,
            -0.0023049258161336184
        ],
        "speed": 1.6658742164943163,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.65435218811035,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.50341796875,
                5218.44921875,
                378.6339111328125
            ],
            "velocity": [
                0.04358591511845589,
                -4.338898658752441,
                -0.00965476967394352
            ],
            "speed_kmh": 15.620861927140028,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2902672290802,
                "transform": {
                    "location": {
                        "x": -2498.982421875,
                        "y": 5264.484375,
                        "z": 378.72357177734375
                    },
                    "rotation": {
                        "roll": -0.0010375959100201726,
                        "pitch": -0.07406656444072723,
                        "yaw": -89.83677673339844
                    }
                },
                "velocity": {
                    "x": 0.022243227809667587,
                    "y": -2.2901570796966553,
                    "z": -0.003072500228881836
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.342557430267334,
                "transform": {
                    "location": {
                        "x": -2498.978759765625,
                        "y": 5248.533203125,
                        "z": 378.69366455078125
                    },
                    "rotation": {
                        "roll": -0.0017395018367096782,
                        "pitch": -0.00027320755179971457,
                        "yaw": -89.93746948242188
                    }
                },
                "velocity": {
                    "x": 0.048495545983314514,
                    "y": -4.342282295227051,
                    "z": -0.006231346167623997
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.3779683113098145,
                "transform": {
                    "location": {
                        "x": -2498.99658203125,
                        "y": 5217.74169921875,
                        "z": 378.6445617675781
                    },
                    "rotation": {
                        "roll": -0.008819577284157276,
                        "pitch": 0.11987664550542831,
                        "yaw": -89.58001708984375
                    }
                },
                "velocity": {
                    "x": 0.05147711560130119,
                    "y": -5.377706050872803,
                    "z": -0.013104180805385113
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.409604072570801,
                "transform": {
                    "location": {
                        "x": -2499.01220703125,
                        "y": 5203.49560546875,
                        "z": 378.595458984375
                    },
                    "rotation": {
                        "roll": -0.012969942763447762,
                        "pitch": 0.38653403520584106,
                        "yaw": -89.606201171875
                    }
                },
                "velocity": {
                    "x": 0.04364028945565224,
                    "y": -4.409365653991699,
                    "z": -0.014123725704848766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.3544816970825195,
                "transform": {
                    "location": {
                        "x": -2502.473388671875,
                        "y": 5263.5244140625,
                        "z": 378.7179260253906
                    },
                    "rotation": {
                        "roll": -0.0013732906663790345,
                        "pitch": -0.005580264143645763,
                        "yaw": -89.56439208984375
                    }
                },
                "velocity": {
                    "x": 0.04459109529852867,
                    "y": -4.354247570037842,
                    "z": -0.007066593039780855
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.48268461227417,
                "transform": {
                    "location": {
                        "x": -2502.482666015625,
                        "y": 5248.556640625,
                        "z": 378.709716796875
                    },
                    "rotation": {
                        "roll": 0.0003046190831810236,
                        "pitch": -0.20843003690242767,
                        "yaw": -89.63714599609375
                    }
                },
                "velocity": {
                    "x": 0.04737001284956932,
                    "y": -4.482429027557373,
                    "z": -0.0067856693640351295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.339128494262695,
                "transform": {
                    "location": {
                        "x": -2502.50341796875,
                        "y": 5218.44921875,
                        "z": 378.6339111328125
                    },
                    "rotation": {
                        "roll": -0.0026245119515806437,
                        "pitch": -0.06839068233966827,
                        "yaw": -89.46664428710938
                    }
                },
                "velocity": {
                    "x": 0.04358591511845589,
                    "y": -4.338898658752441,
                    "z": -0.00965476967394352
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.514213562011719,
                "transform": {
                    "location": {
                        "x": -2502.51220703125,
                        "y": 5203.5576171875,
                        "z": 378.60675048828125
                    },
                    "rotation": {
                        "roll": 0.00016444703214801848,
                        "pitch": -0.2981240749359131,
                        "yaw": -89.64226531982422
                    }
                },
                "velocity": {
                    "x": 0.04781487211585045,
                    "y": -4.513937950134277,
                    "z": -0.014140482060611248
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.383575916290283,
                "transform": {
                    "location": {
                        "x": -2505.972900390625,
                        "y": 5263.4892578125,
                        "z": 378.72283935546875
                    },
                    "rotation": {
                        "roll": -0.01147460751235485,
                        "pitch": 0.46023860573768616,
                        "yaw": -89.64958953857422
                    }
                },
                "velocity": {
                    "x": 0.042355697602033615,
                    "y": -4.383365631103516,
                    "z": -0.0070635792799293995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.421498775482178,
                "transform": {
                    "location": {
                        "x": -2505.976806640625,
                        "y": 5247.765625,
                        "z": 378.7049255371094
                    },
                    "rotation": {
                        "roll": -0.007385266479104757,
                        "pitch": 0.18568551540374756,
                        "yaw": -89.56846618652344
                    }
                },
                "velocity": {
                    "x": 0.05221240222454071,
                    "y": -5.421243190765381,
                    "z": -0.006571607664227486
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.442293167114258,
                "transform": {
                    "location": {
                        "x": -2506.002685546875,
                        "y": 5218.501953125,
                        "z": 378.6781921386719
                    },
                    "rotation": {
                        "roll": -0.003997802268713713,
                        "pitch": -0.0011611321242526174,
                        "yaw": -89.63055419921875
                    }
                },
                "velocity": {
                    "x": 0.04634524881839752,
                    "y": -4.442038059234619,
                    "z": -0.010771140456199646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.301513671875,
                "transform": {
                    "location": {
                        "x": -2506.02197265625,
                        "y": 5204.48046875,
                        "z": 378.5978088378906
                    },
                    "rotation": {
                        "roll": -0.0013427642406895757,
                        "pitch": -0.15884287655353546,
                        "yaw": -89.77645874023438
                    }
                },
                "velocity": {
                    "x": 0.02281579002737999,
                    "y": -2.3013908863067627,
                    "z": -0.006643876899033785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0018616227898746729,
        "expert_target_speed": 2.7184720986285145,
        "target_point": [
            50.62012662148141,
            0.012791442413697056
        ],
        "target_point_next": [
            102.49831599463485,
            0.2867419305641403
        ]
    },
    "35": {
        "acceleration": [
            -0.0004315376281738281,
            -4.59773063659668,
            -0.022929953411221504
        ],
        "angular_velocity": [
            -0.4308304488658905,
            0.005921135190874338,
            0.05753033235669136
        ],
        "forward_vector": [
            -0.0006615284946747124,
            -0.9999883770942688,
            0.004766803700476885
        ],
        "right_vector": [
            0.9999997615814209,
            -0.000661510624922812,
            5.326466180122225e-06
        ],
        "location": [
            -2502.509521484375,
            5234.58251953125,
            378.6756591796875
        ],
        "rotation": [
            -0.00030518751009367406,
            0.2731187641620636,
            -90.03790283203125
        ],
        "velocity": [
            -0.0004929992719553411,
            -2.582170248031616,
            -0.004297952633351088
        ],
        "speed": 2.5821702950944077,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.34918785095215,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.491455078125,
                5217.2333984375,
                378.6309814453125
            ],
            "velocity": [
                0.055732596665620804,
                -5.015915870666504,
                -0.013404264114797115
            ],
            "speed_kmh": 18.05847622930247,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.860732078552246,
                "transform": {
                    "location": {
                        "x": -2498.977294921875,
                        "y": 5263.83740234375,
                        "z": 378.72259521484375
                    },
                    "rotation": {
                        "roll": -0.00042724402737803757,
                        "pitch": -0.07416219264268875,
                        "yaw": -89.70861053466797
                    }
                },
                "velocity": {
                    "x": 0.028996651992201805,
                    "y": -2.860581636428833,
                    "z": -0.00449618324637413
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.3728251457214355,
                "transform": {
                    "location": {
                        "x": -2498.96826171875,
                        "y": 5247.27685546875,
                        "z": 378.6918640136719
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.02545611374080181,
                        "yaw": -89.66187286376953
                    }
                },
                "velocity": {
                    "x": 0.05498073995113373,
                    "y": -5.372534275054932,
                    "z": -0.010285796597599983
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.795419216156006,
                "transform": {
                    "location": {
                        "x": -2498.98291015625,
                        "y": 5216.3583984375,
                        "z": 378.6407470703125
                    },
                    "rotation": {
                        "roll": -0.006652832962572575,
                        "pitch": -0.03122762404382229,
                        "yaw": -89.44377899169922
                    }
                },
                "velocity": {
                    "x": 0.060498740524053574,
                    "y": -5.795082092285156,
                    "z": -0.015801038593053818
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.356768608093262,
                "transform": {
                    "location": {
                        "x": -2499.0,
                        "y": 5202.23681640625,
                        "z": 378.5919494628906
                    },
                    "rotation": {
                        "roll": -0.010803238488733768,
                        "pitch": 0.3375547528266907,
                        "yaw": -89.49493408203125
                    }
                },
                "velocity": {
                    "x": 0.05530986189842224,
                    "y": -5.356459140777588,
                    "z": -0.015982961282134056
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.188973903656006,
                "transform": {
                    "location": {
                        "x": -2502.4599609375,
                        "y": 5262.28759765625,
                        "z": 378.7160949707031
                    },
                    "rotation": {
                        "roll": -0.0008544923621229827,
                        "pitch": -0.02050422690808773,
                        "yaw": -89.59562683105469
                    }
                },
                "velocity": {
                    "x": 0.05478227883577347,
                    "y": -5.18867826461792,
                    "z": -0.008188476786017418
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.159421443939209,
                "transform": {
                    "location": {
                        "x": -2502.470458984375,
                        "y": 5247.31103515625,
                        "z": 378.7077941894531
                    },
                    "rotation": {
                        "roll": -0.0011596768163144588,
                        "pitch": -0.1743474006652832,
                        "yaw": -89.5240478515625
                    }
                },
                "velocity": {
                    "x": 0.0546247661113739,
                    "y": -5.159127235412598,
                    "z": -0.007327203638851643
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.0162434577941895,
                "transform": {
                    "location": {
                        "x": -2502.491455078125,
                        "y": 5217.2333984375,
                        "z": 378.6309814453125
                    },
                    "rotation": {
                        "roll": -0.0023498544469475746,
                        "pitch": -0.08511780947446823,
                        "yaw": -89.32432556152344
                    }
                },
                "velocity": {
                    "x": 0.055732596665620804,
                    "y": -5.015915870666504,
                    "z": -0.013404264114797115
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.195965766906738,
                "transform": {
                    "location": {
                        "x": -2502.5,
                        "y": 5202.30419921875,
                        "z": 378.6027526855469
                    },
                    "rotation": {
                        "roll": -0.0002746513346210122,
                        "pitch": -0.2702295780181885,
                        "yaw": -89.5188217163086
                    }
                },
                "velocity": {
                    "x": 0.05481092259287834,
                    "y": -5.195651531219482,
                    "z": -0.01608746498823166
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.334559917449951,
                "transform": {
                    "location": {
                        "x": -2505.9609375,
                        "y": 5262.23681640625,
                        "z": 378.72119140625
                    },
                    "rotation": {
                        "roll": -0.011169461533427238,
                        "pitch": 0.4299125671386719,
                        "yaw": -89.52027130126953
                    }
                },
                "velocity": {
                    "x": 0.05410049483180046,
                    "y": -5.334280967712402,
                    "z": -0.0067045115865767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.809719085693359,
                "transform": {
                    "location": {
                        "x": -2505.96240234375,
                        "y": 5246.35498046875,
                        "z": 378.7025451660156
                    },
                    "rotation": {
                        "roll": -0.007141112349927425,
                        "pitch": 0.03889109566807747,
                        "yaw": -89.39556121826172
                    }
                },
                "velocity": {
                    "x": 0.062142595648765564,
                    "y": -5.809378623962402,
                    "z": -0.009994659572839737
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.276527404785156,
                "transform": {
                    "location": {
                        "x": -2505.990478515625,
                        "y": 5217.24658203125,
                        "z": 378.67578125
                    },
                    "rotation": {
                        "roll": -0.0028381359297782183,
                        "pitch": -0.04104943573474884,
                        "yaw": -89.50840759277344
                    }
                },
                "velocity": {
                    "x": 0.05634193867444992,
                    "y": -5.276206970214844,
                    "z": -0.014514397829771042
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8729100227355957,
                "transform": {
                    "location": {
                        "x": -2506.0166015625,
                        "y": 5203.83056640625,
                        "z": 378.59588623046875
                    },
                    "rotation": {
                        "roll": -0.0017700198804959655,
                        "pitch": -0.16165007650852203,
                        "yaw": -89.66338348388672
                    }
                },
                "velocity": {
                    "x": 0.029609570279717445,
                    "y": -2.87274169921875,
                    "z": -0.009542884305119514
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0006466158665716648,
        "expert_target_speed": 3.6376206174594623,
        "target_point": [
            50.09913199067651,
            -0.0032549208064696564
        ],
        "target_point_next": [
            101.97740525603282,
            0.2543193631305804
        ]
    },
    "40": {
        "acceleration": [
            0.005514215677976608,
            -5.952849388122559,
            -0.004858784377574921
        ],
        "angular_velocity": [
            -0.5727197527885437,
            -0.012049077078700066,
            0.07910895347595215
        ],
        "forward_vector": [
            -0.0003744691493920982,
            -0.9999707341194153,
            0.007642074953764677
        ],
        "right_vector": [
            0.9999999403953552,
            -0.000374235853087157,
            3.1957169994711876e-05
        ],
        "location": [
            -2502.509521484375,
            5233.7490234375,
            378.6734619140625
        ],
        "rotation": [
            -0.0018310644663870335,
            0.43786290287971497,
            -90.02145385742188
        ],
        "velocity": [
            0.00045934002264402807,
            -4.055690288543701,
            -0.0067914389073848724
        ],
        "speed": 4.055690314555704,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.137792587280273,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.473876953125,
                5215.611328125,
                378.6260986328125
            ],
            "velocity": [
                0.05212856084108353,
                -7.462221622467041,
                -0.021383136510849
            ],
            "speed_kmh": 26.864763597318955,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.485926628112793,
                "transform": {
                    "location": {
                        "x": -2498.97021484375,
                        "y": 5263.04443359375,
                        "z": 378.7212829589844
                    },
                    "rotation": {
                        "roll": -0.000885010464116931,
                        "pitch": -0.07248196005821228,
                        "yaw": -89.59478759765625
                    }
                },
                "velocity": {
                    "x": 0.03634943813085556,
                    "y": -3.485731363296509,
                    "z": -0.006305217742919922
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.646734714508057,
                "transform": {
                    "location": {
                        "x": -2498.953369140625,
                        "y": 5245.6416015625,
                        "z": 378.6886901855469
                    },
                    "rotation": {
                        "roll": 0.0030503622256219387,
                        "pitch": 0.04197834059596062,
                        "yaw": -89.54173278808594
                    }
                },
                "velocity": {
                    "x": 0.04818155616521835,
                    "y": -7.646574020385742,
                    "z": -0.011525220237672329
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.232352256774902,
                "transform": {
                    "location": {
                        "x": -2498.97021484375,
                        "y": 5214.6787109375,
                        "z": 378.6361999511719
                    },
                    "rotation": {
                        "roll": 0.011272609233856201,
                        "pitch": 0.10635969787836075,
                        "yaw": -89.56075286865234
                    }
                },
                "velocity": {
                    "x": 0.04481646046042442,
                    "y": -7.232186794281006,
                    "z": -0.019530601799488068
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.368174076080322,
                "transform": {
                    "location": {
                        "x": -2498.986572265625,
                        "y": 5200.84375,
                        "z": 378.5877990722656
                    },
                    "rotation": {
                        "roll": 0.010896335355937481,
                        "pitch": 0.2241736203432083,
                        "yaw": -89.46142578125
                    }
                },
                "velocity": {
                    "x": 0.04352493956685066,
                    "y": -6.367987155914307,
                    "z": -0.022044042125344276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.474730968475342,
                "transform": {
                    "location": {
                        "x": -2502.4443359375,
                        "y": 5260.6748046875,
                        "z": 378.71295166015625
                    },
                    "rotation": {
                        "roll": 0.002438144525513053,
                        "pitch": 0.04101528227329254,
                        "yaw": -89.52397918701172
                    }
                },
                "velocity": {
                    "x": 0.04902920126914978,
                    "y": -7.47456169128418,
                    "z": -0.011261167004704475
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.883724689483643,
                "transform": {
                    "location": {
                        "x": -2502.457275390625,
                        "y": 5245.9912109375,
                        "z": 378.7049560546875
                    },
                    "rotation": {
                        "roll": -0.00534058129414916,
                        "pitch": -0.09536309540271759,
                        "yaw": -89.512939453125
                    }
                },
                "velocity": {
                    "x": 0.03541859984397888,
                    "y": -4.88358736038208,
                    "z": -0.009235906414687634
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.4624342918396,
                "transform": {
                    "location": {
                        "x": -2502.473876953125,
                        "y": 5215.611328125,
                        "z": 378.6260986328125
                    },
                    "rotation": {
                        "roll": 0.0029691471718251705,
                        "pitch": -0.022218603640794754,
                        "yaw": -89.39016723632812
                    }
                },
                "velocity": {
                    "x": 0.05212856084108353,
                    "y": -7.462221622467041,
                    "z": -0.021383136510849
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.938796520233154,
                "transform": {
                    "location": {
                        "x": -2502.486328125,
                        "y": 5200.92041015625,
                        "z": 378.59796142578125
                    },
                    "rotation": {
                        "roll": -0.00588990980759263,
                        "pitch": -0.25710880756378174,
                        "yaw": -89.4905014038086
                    }
                },
                "velocity": {
                    "x": 0.035770609974861145,
                    "y": -5.93865966796875,
                    "z": -0.018749045208096504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.104079246520996,
                "transform": {
                    "location": {
                        "x": -2505.947998046875,
                        "y": 5260.86376953125,
                        "z": 378.7195739746094
                    },
                    "rotation": {
                        "roll": 0.009273488074541092,
                        "pitch": 0.27290019392967224,
                        "yaw": -89.47322845458984
                    }
                },
                "velocity": {
                    "x": 0.04221448674798012,
                    "y": -6.1039252281188965,
                    "z": -0.00999523140490055
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.929403781890869,
                "transform": {
                    "location": {
                        "x": -2505.94921875,
                        "y": 5244.65625,
                        "z": 378.6998291015625
                    },
                    "rotation": {
                        "roll": 0.014052236452698708,
                        "pitch": 0.2758576571941376,
                        "yaw": -89.54888153076172
                    }
                },
                "velocity": {
                    "x": 0.049693502485752106,
                    "y": -7.929238796234131,
                    "z": -0.012108144350349903
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.1284871101379395,
                "transform": {
                    "location": {
                        "x": -2505.9775390625,
                        "y": 5215.931640625,
                        "z": 378.6728515625
                    },
                    "rotation": {
                        "roll": 0.0025356351397931576,
                        "pitch": -0.13784687221050262,
                        "yaw": -89.45374298095703
                    }
                },
                "velocity": {
                    "x": 0.03752707690000534,
                    "y": -5.128332614898682,
                    "z": -0.013325700536370277
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.504289150238037,
                "transform": {
                    "location": {
                        "x": -2506.00927734375,
                        "y": 5203.0341796875,
                        "z": 378.5931701660156
                    },
                    "rotation": {
                        "roll": -0.0014953571371734142,
                        "pitch": -0.1635761857032776,
                        "yaw": -89.56353759765625
                    }
                },
                "velocity": {
                    "x": 0.03692382574081421,
                    "y": -3.504080057144165,
                    "z": -0.010068864561617374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0008450603345409036,
        "expert_target_speed": 5.1179838710376195,
        "target_point": [
            49.26563352405286,
            -0.01620376046610523
        ],
        "target_point_next": [
            101.14397022781935,
            0.22825964653490932
        ]
    },
    "45": {
        "acceleration": [
            0.03378209099173546,
            -5.383739471435547,
            -0.05217171460390091
        ],
        "angular_velocity": [
            0.02103828825056553,
            0.046248581260442734,
            -2.270566940307617
        ],
        "forward_vector": [
            -0.00021985593775752932,
            -0.9999558329582214,
            0.009397010318934917
        ],
        "right_vector": [
            1.0,
            -0.00021934510732535273,
            5.5390872148564085e-05
        ],
        "location": [
            -2502.50927734375,
            5232.5361328125,
            378.6710205078125
        ],
        "rotation": [
            -0.0031738034449517727,
            0.5384169816970825,
            -90.0125961303711
        ],
        "velocity": [
            0.0037362503353506327,
            -5.560085773468018,
            -0.009755096398293972
        ],
        "speed": 5.560087028805216,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.756471633911133,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.4619140625,
                5213.77978515625,
                378.62200927734375
            ],
            "velocity": [
                0.03324098140001297,
                -6.8689117431640625,
                -0.020950384438037872
            ],
            "speed_kmh": 24.728486846592798,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.322853088378906,
                "transform": {
                    "location": {
                        "x": -2498.960693359375,
                        "y": 5262.06787109375,
                        "z": 378.7195739746094
                    },
                    "rotation": {
                        "roll": -0.0016784700565040112,
                        "pitch": -0.06579520553350449,
                        "yaw": -89.50186157226562
                    }
                },
                "velocity": {
                    "x": 0.04643818363547325,
                    "y": -4.322599411010742,
                    "z": -0.0060637760907411575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.966266632080078,
                "transform": {
                    "location": {
                        "x": -2498.94140625,
                        "y": 5243.55322265625,
                        "z": 378.685546875
                    },
                    "rotation": {
                        "roll": 0.00329533196054399,
                        "pitch": 0.013919924385845661,
                        "yaw": -89.68148803710938
                    }
                },
                "velocity": {
                    "x": 0.04265406355261803,
                    "y": -8.966154098510742,
                    "z": -0.0141745088621974
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.023608446121216,
                "transform": {
                    "location": {
                        "x": -2498.96142578125,
                        "y": 5213.251953125,
                        "z": 378.6317138671875
                    },
                    "rotation": {
                        "roll": 0.005120558198541403,
                        "pitch": -0.7604049444198608,
                        "yaw": -89.688720703125
                    }
                },
                "velocity": {
                    "x": 0.017644593492150307,
                    "y": -3.0235397815704346,
                    "z": -0.01017850823700428
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.70884370803833,
                "transform": {
                    "location": {
                        "x": -2498.975341796875,
                        "y": 5199.08251953125,
                        "z": 378.5812072753906
                    },
                    "rotation": {
                        "roll": 0.019552437588572502,
                        "pitch": 0.3885284662246704,
                        "yaw": -89.62517547607422
                    }
                },
                "velocity": {
                    "x": 0.041459761559963226,
                    "y": -7.708690643310547,
                    "z": -0.02528117597103119
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.855583190917969,
                "transform": {
                    "location": {
                        "x": -2502.43359375,
                        "y": 5258.84228515625,
                        "z": 378.71099853515625
                    },
                    "rotation": {
                        "roll": 0.0020630962681025267,
                        "pitch": -0.09090981632471085,
                        "yaw": -89.66250610351562
                    }
                },
                "velocity": {
                    "x": 0.03291966766119003,
                    "y": -6.855494022369385,
                    "z": -0.011736249551177025
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1382177770137787,
                "transform": {
                    "location": {
                        "x": -2502.45263671875,
                        "y": 5245.37939453125,
                        "z": 378.7004089355469
                    },
                    "rotation": {
                        "roll": -0.0012207127874717116,
                        "pitch": 0.2990666329860687,
                        "yaw": -89.57221221923828
                    }
                },
                "velocity": {
                    "x": 0.0021610248368233442,
                    "y": -0.1382007598876953,
                    "z": 0.00018476485274732113
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.869024276733398,
                "transform": {
                    "location": {
                        "x": -2502.4619140625,
                        "y": 5213.77978515625,
                        "z": 378.62200927734375
                    },
                    "rotation": {
                        "roll": 0.0010318695567548275,
                        "pitch": -0.1604001522064209,
                        "yaw": -89.6318130493164
                    }
                },
                "velocity": {
                    "x": 0.03324098140001297,
                    "y": -6.8689117431640625,
                    "z": -0.020950384438037872
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.250550270080566,
                "transform": {
                    "location": {
                        "x": -2502.477294921875,
                        "y": 5199.3427734375,
                        "z": 378.59326171875
                    },
                    "rotation": {
                        "roll": -0.007049554493278265,
                        "pitch": -0.33278727531433105,
                        "yaw": -89.62503051757812
                    }
                },
                "velocity": {
                    "x": 0.03481416404247284,
                    "y": -7.250425815582275,
                    "z": -0.02433260902762413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.644383907318115,
                "transform": {
                    "location": {
                        "x": -2505.936767578125,
                        "y": 5259.13037109375,
                        "z": 378.71588134765625
                    },
                    "rotation": {
                        "roll": 0.019276347011327744,
                        "pitch": 0.497886598110199,
                        "yaw": -89.62274932861328
                    }
                },
                "velocity": {
                    "x": 0.04144689440727234,
                    "y": -7.644262313842773,
                    "z": -0.01185684185475111
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.24258804321289,
                "transform": {
                    "location": {
                        "x": -2505.936767578125,
                        "y": 5242.482421875,
                        "z": 378.6961975097656
                    },
                    "rotation": {
                        "roll": 0.009157989174127579,
                        "pitch": 0.20708449184894562,
                        "yaw": -89.6798095703125
                    }
                },
                "velocity": {
                    "x": 0.047434668987989426,
                    "y": -9.24245548248291,
                    "z": -0.014033432118594646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.29861971735954285,
                "transform": {
                    "location": {
                        "x": -2505.972900390625,
                        "y": 5215.2509765625,
                        "z": 378.6740417480469
                    },
                    "rotation": {
                        "roll": 0.000788279518019408,
                        "pitch": -0.5246267914772034,
                        "yaw": -89.4774398803711
                    }
                },
                "velocity": {
                    "x": -0.0019874509889632463,
                    "y": -0.2986125648021698,
                    "z": -0.0005685901269316673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.348587989807129,
                "transform": {
                    "location": {
                        "x": -2505.999267578125,
                        "y": 5202.05224609375,
                        "z": 378.5899963378906
                    },
                    "rotation": {
                        "roll": -0.0020446761045604944,
                        "pitch": -0.16314588487148285,
                        "yaw": -89.48184204101562
                    }
                },
                "velocity": {
                    "x": 0.047076091170310974,
                    "y": -4.348311424255371,
                    "z": -0.013802013359963894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0010997558711096644,
        "expert_target_speed": 6.5881502846217845,
        "target_point": [
            48.05274305550014,
            -0.016866415354562705
        ],
        "target_point_next": [
            99.93107975926664,
            0.22759699164645184
        ]
    },
    "50": {
        "acceleration": [
            -0.06876853108406067,
            -10.625295639038086,
            -0.052440445870161057
        ],
        "angular_velocity": [
            -1.8410645723342896,
            -0.03907911106944084,
            1.4076406955718994
        ],
        "forward_vector": [
            -0.0005922598647885025,
            -0.9999735355377197,
            0.007250483613461256
        ],
        "right_vector": [
            0.9999998211860657,
            -0.0005925589939579368,
            -3.911368185072206e-05
        ],
        "location": [
            -2502.508544921875,
            5231.0859375,
            378.66851806640625
        ],
        "rotation": [
            0.0022411078680306673,
            0.41542574763298035,
            -90.033935546875
        ],
        "velocity": [
            -0.0006535678403452039,
            -6.618480682373047,
            -0.013938731513917446
        ],
        "speed": 6.618480714642607,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.612934112548828,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.45458984375,
                5212.47314453125,
                378.6199035644531
            ],
            "velocity": [
                0.015085162594914436,
                -2.5677332878112793,
                -0.007626342587172985
            ],
            "speed_kmh": 9.244040128046501,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.253708839416504,
                "transform": {
                    "location": {
                        "x": -2498.94873046875,
                        "y": 5260.861328125,
                        "z": 378.7179260253906
                    },
                    "rotation": {
                        "roll": 0.0008939615217968822,
                        "pitch": -0.060788679867982864,
                        "yaw": -89.44830322265625
                    }
                },
                "velocity": {
                    "x": 0.04247676581144333,
                    "y": -5.253534317016602,
                    "z": -0.005572137888520956
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.236804008483887,
                "transform": {
                    "location": {
                        "x": -2498.93017578125,
                        "y": 5241.14501953125,
                        "z": 378.68170166015625
                    },
                    "rotation": {
                        "roll": 0.0008323666988871992,
                        "pitch": -0.006379396189004183,
                        "yaw": -89.73797607421875
                    }
                },
                "velocity": {
                    "x": 0.045169103890657425,
                    "y": -10.236688613891602,
                    "z": -0.018207434564828873
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0122452974319458,
                "transform": {
                    "location": {
                        "x": -2498.96044921875,
                        "y": 5213.03369140625,
                        "z": 378.6310729980469
                    },
                    "rotation": {
                        "roll": 0.00373257277533412,
                        "pitch": -0.6607046723365784,
                        "yaw": -89.68038940429688
                    }
                },
                "velocity": {
                    "x": 0.00182046159170568,
                    "y": -1.0122407674789429,
                    "z": -0.0024152849800884724
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.7135009765625,
                "transform": {
                    "location": {
                        "x": -2498.96435546875,
                        "y": 5197.04296875,
                        "z": 378.5746154785156
                    },
                    "rotation": {
                        "roll": 0.012394002638757229,
                        "pitch": 0.28943607211112976,
                        "yaw": -89.70059204101562
                    }
                },
                "velocity": {
                    "x": 0.04244931787252426,
                    "y": -8.713343620300293,
                    "z": -0.03059256076812744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.5055079460144043,
                "transform": {
                    "location": {
                        "x": -2502.427490234375,
                        "y": 5257.54296875,
                        "z": 378.7105712890625
                    },
                    "rotation": {
                        "roll": -3.053621912840754e-05,
                        "pitch": -0.31924301385879517,
                        "yaw": -89.67779541015625
                    }
                },
                "velocity": {
                    "x": 0.01001984253525734,
                    "y": -2.505483627319336,
                    "z": -0.004656924866139889
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1488569974899292,
                "transform": {
                    "location": {
                        "x": -2502.452392578125,
                        "y": 5245.24609375,
                        "z": 378.7032775878906
                    },
                    "rotation": {
                        "roll": -0.001800533034838736,
                        "pitch": -0.06619136035442352,
                        "yaw": -89.58775329589844
                    }
                },
                "velocity": {
                    "x": 0.0015427215257659554,
                    "y": -1.1488547325134277,
                    "z": -0.00165869714692235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.56778883934021,
                "transform": {
                    "location": {
                        "x": -2502.45458984375,
                        "y": 5212.47314453125,
                        "z": 378.6199035644531
                    },
                    "rotation": {
                        "roll": -0.0015258480561897159,
                        "pitch": -0.38537290692329407,
                        "yaw": -89.77151489257812
                    }
                },
                "velocity": {
                    "x": 0.015085162594914436,
                    "y": -2.5677332878112793,
                    "z": -0.007626342587172985
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.253741264343262,
                "transform": {
                    "location": {
                        "x": -2502.46728515625,
                        "y": 5197.3818359375,
                        "z": 378.58642578125
                    },
                    "rotation": {
                        "roll": -0.0021667361725121737,
                        "pitch": -0.3117913007736206,
                        "yaw": -89.668212890625
                    }
                },
                "velocity": {
                    "x": 0.04177359119057655,
                    "y": -8.253588676452637,
                    "z": -0.027567695826292038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.735026359558105,
                "transform": {
                    "location": {
                        "x": -2505.92578125,
                        "y": 5257.09814453125,
                        "z": 378.712890625
                    },
                    "rotation": {
                        "roll": 0.011644755490124226,
                        "pitch": 0.40956544876098633,
                        "yaw": -89.70040130615234
                    }
                },
                "velocity": {
                    "x": 0.042683977633714676,
                    "y": -8.73491096496582,
                    "z": -0.013687286525964737
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.269183158874512,
                "transform": {
                    "location": {
                        "x": -2505.92626953125,
                        "y": 5240.0869140625,
                        "z": 378.6922912597656
                    },
                    "rotation": {
                        "roll": 0.015081669203937054,
                        "pitch": 0.14986799657344818,
                        "yaw": -89.77471160888672
                    }
                },
                "velocity": {
                    "x": 0.03184537589550018,
                    "y": -10.269119262695312,
                    "z": -0.017289819195866585
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.380671501159668,
                "transform": {
                    "location": {
                        "x": -2505.971923828125,
                        "y": 5215.08349609375,
                        "z": 378.6708068847656
                    },
                    "rotation": {
                        "roll": -0.0008544929441995919,
                        "pitch": -0.20819097757339478,
                        "yaw": -89.48180389404297
                    }
                },
                "velocity": {
                    "x": 0.008104635402560234,
                    "y": -1.380645513534546,
                    "z": -0.00244528753682971
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.275662899017334,
                "transform": {
                    "location": {
                        "x": -2505.987060546875,
                        "y": 5200.8388671875,
                        "z": 378.58624267578125
                    },
                    "rotation": {
                        "roll": -0.00024414685321971774,
                        "pitch": -0.16223064064979553,
                        "yaw": -89.43108367919922
                    }
                },
                "velocity": {
                    "x": 0.042007941752672195,
                    "y": -5.2754740715026855,
                    "z": -0.015108956955373287
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.003553931135684252,
        "expert_target_speed": 7.475446459637497,
        "target_point": [
            46.6025511679287,
            -0.006321666145622257
        ],
        "target_point_next": [
            98.48082443328501,
            0.2512526177914278
        ]
    },
    "55": {
        "acceleration": [
            0.02857467345893383,
            -7.693576812744141,
            -0.010610111057758331
        ],
        "angular_velocity": [
            -0.3556120693683624,
            0.029773365706205368,
            -1.3440123796463013
        ],
        "forward_vector": [
            -0.00033547679777257144,
            -0.9999347925186157,
            0.01141523290425539
        ],
        "right_vector": [
            0.9999999403953552,
            -0.00033541960874572396,
            6.923451564944116e-06
        ],
        "location": [
            -2502.508544921875,
            5229.16357421875,
            378.66357421875
        ],
        "rotation": [
            -0.0003967104130424559,
            0.6540588736534119,
            -90.01922607421875
        ],
        "velocity": [
            0.0011474571656435728,
            -8.567237854003906,
            -0.018067412078380585
        ],
        "speed": 8.567237930846522,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.308746337890625,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.452392578125,
                5211.85498046875,
                378.6170349121094
            ],
            "velocity": [
                0.008443444035947323,
                -2.686584949493408,
                -0.0065137287601828575
            ],
            "speed_kmh": 9.671782010046156,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.585674285888672,
                "transform": {
                    "location": {
                        "x": -2498.93896484375,
                        "y": 5259.52978515625,
                        "z": 378.71588134765625
                    },
                    "rotation": {
                        "roll": 0.0013466723030433059,
                        "pitch": -0.0774543434381485,
                        "yaw": -89.52071380615234
                    }
                },
                "velocity": {
                    "x": 0.03281407430768013,
                    "y": -5.585569858551025,
                    "z": -0.009435806423425674
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.403615951538086,
                "transform": {
                    "location": {
                        "x": -2498.9228515625,
                        "y": 5238.43310546875,
                        "z": 378.67706298828125
                    },
                    "rotation": {
                        "roll": 0.0031357756815850735,
                        "pitch": -0.016016792505979538,
                        "yaw": -89.87452697753906
                    }
                },
                "velocity": {
                    "x": 0.019999274984002113,
                    "y": -11.403582572937012,
                    "z": -0.019000964239239693
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.531836748123169,
                "transform": {
                    "location": {
                        "x": -2498.95849609375,
                        "y": 5212.578125,
                        "z": 378.6300354003906
                    },
                    "rotation": {
                        "roll": -0.0004882818320766091,
                        "pitch": -0.01803852804005146,
                        "yaw": -89.7264633178711
                    }
                },
                "velocity": {
                    "x": 0.011779527179896832,
                    "y": -2.531802177429199,
                    "z": -0.006072168238461018
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.340272903442383,
                "transform": {
                    "location": {
                        "x": -2498.955810546875,
                        "y": 5194.8857421875,
                        "z": 378.5682373046875
                    },
                    "rotation": {
                        "roll": 0.020882105454802513,
                        "pitch": -0.06673777103424072,
                        "yaw": -89.79257202148438
                    }
                },
                "velocity": {
                    "x": 0.022450242191553116,
                    "y": -8.340189933776855,
                    "z": -0.02957090735435486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8680776953697205,
                "transform": {
                    "location": {
                        "x": -2502.4267578125,
                        "y": 5257.38818359375,
                        "z": 378.7094421386719
                    },
                    "rotation": {
                        "roll": -0.0009155334555543959,
                        "pitch": -0.24066169559955597,
                        "yaw": -89.68334197998047
                    }
                },
                "velocity": {
                    "x": 0.005123352166265249,
                    "y": -0.8680613040924072,
                    "z": -0.0015069865621626377
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.976779580116272,
                "transform": {
                    "location": {
                        "x": -2502.4501953125,
                        "y": 5244.85009765625,
                        "z": 378.70343017578125
                    },
                    "rotation": {
                        "roll": -0.0009765747236087918,
                        "pitch": -0.17303600907325745,
                        "yaw": -89.61611938476562
                    }
                },
                "velocity": {
                    "x": 0.009265858680009842,
                    "y": -1.9767571687698364,
                    "z": -0.0016898345202207565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6866061687469482,
                "transform": {
                    "location": {
                        "x": -2502.452392578125,
                        "y": 5211.85498046875,
                        "z": 378.6170349121094
                    },
                    "rotation": {
                        "roll": -6.1031973018543795e-05,
                        "pitch": -0.23114041984081268,
                        "yaw": -89.7315673828125
                    }
                },
                "velocity": {
                    "x": 0.008443444035947323,
                    "y": -2.686584949493408,
                    "z": -0.0065137287601828575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.07264232635498,
                "transform": {
                    "location": {
                        "x": -2502.4580078125,
                        "y": 5195.3251953125,
                        "z": 378.57830810546875
                    },
                    "rotation": {
                        "roll": -0.00506590586155653,
                        "pitch": -0.2094409018754959,
                        "yaw": -89.77507781982422
                    }
                },
                "velocity": {
                    "x": 0.01819602958858013,
                    "y": -8.0725679397583,
                    "z": -0.02952529862523079
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.195783615112305,
                "transform": {
                    "location": {
                        "x": -2505.916748046875,
                        "y": 5254.69873046875,
                        "z": 378.7085876464844
                    },
                    "rotation": {
                        "roll": 0.024958577007055283,
                        "pitch": 0.5362722873687744,
                        "yaw": -89.79684448242188
                    }
                },
                "velocity": {
                    "x": 0.026566779240965843,
                    "y": -10.195737838745117,
                    "z": -0.01498242374509573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.96127700805664,
                "transform": {
                    "location": {
                        "x": -2505.919921875,
                        "y": 5237.37158203125,
                        "z": 378.68743896484375
                    },
                    "rotation": {
                        "roll": 0.011517893522977829,
                        "pitch": 0.07764558494091034,
                        "yaw": -89.8907699584961
                    }
                },
                "velocity": {
                    "x": 0.0197994913905859,
                    "y": -10.961243629455566,
                    "z": -0.018337635323405266
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3529553413391113,
                "transform": {
                    "location": {
                        "x": -2505.968994140625,
                        "y": 5214.59912109375,
                        "z": 378.66845703125
                    },
                    "rotation": {
                        "roll": 0.0006557555752806365,
                        "pitch": -0.08358784765005112,
                        "yaw": -89.53250122070312
                    }
                },
                "velocity": {
                    "x": 0.0116982227191329,
                    "y": -2.3529186248779297,
                    "z": -0.006005840376019478
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.562494277954102,
                "transform": {
                    "location": {
                        "x": -2505.976806640625,
                        "y": 5199.50537109375,
                        "z": 378.581787109375
                    },
                    "rotation": {
                        "roll": 0.0005138140986673534,
                        "pitch": -0.1784386783838272,
                        "yaw": -89.6002197265625
                    }
                },
                "velocity": {
                    "x": 0.032120607793331146,
                    "y": -5.562371730804443,
                    "z": -0.01820981502532959
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.006221013609319925,
        "expert_target_speed": 9.129086424726795,
        "target_point": [
            44.68017578125,
            -0.034179687500002734
        ],
        "target_point_next": [
            96.55859375,
            0.1923828124999941
        ]
    },
    "60": {
        "acceleration": [
            0.027398578822612762,
            -10.236320495605469,
            -0.043567828834056854
        ],
        "angular_velocity": [
            -1.154639482498169,
            -0.07829322665929794,
            0.12367142736911774
        ],
        "forward_vector": [
            0.00029188807820901275,
            -0.9999597072601318,
            0.008970139548182487
        ],
        "right_vector": [
            0.9999999403953552,
            0.0002925639564637095,
            7.403315248666331e-05
        ],
        "location": [
            -2502.5078125,
            5226.880859375,
            378.6590881347656
        ],
        "rotation": [
            -0.0042419577948749065,
            0.5139580368995667,
            -89.9832763671875
        ],
        "velocity": [
            0.006315705832093954,
            -9.88308334350586,
            -0.022195080295205116
        ],
        "speed": 9.883085361506451,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.866385459899902,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.44873046875,
                5211.0146484375,
                378.61383056640625
            ],
            "velocity": [
                0.014233885332942009,
                -3.911698579788208,
                -0.010166492313146591
            ],
            "speed_kmh": 14.082255677009426,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.643526077270508,
                "transform": {
                    "location": {
                        "x": -2498.9296875,
                        "y": 5257.99365234375,
                        "z": 378.7131042480469
                    },
                    "rotation": {
                        "roll": 0.000349920621374622,
                        "pitch": -0.05947728455066681,
                        "yaw": -89.59783935546875
                    }
                },
                "velocity": {
                    "x": 0.034908317029476166,
                    "y": -6.643426895141602,
                    "z": -0.009978818707168102
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.257044792175293,
                "transform": {
                    "location": {
                        "x": -2498.917724609375,
                        "y": 5235.4931640625,
                        "z": 378.67193603515625
                    },
                    "rotation": {
                        "roll": 0.0020592273212969303,
                        "pitch": -0.037477247416973114,
                        "yaw": -89.91863250732422
                    }
                },
                "velocity": {
                    "x": 0.011973382905125618,
                    "y": -12.25701904296875,
                    "z": -0.02233203314244747
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.115942478179932,
                "transform": {
                    "location": {
                        "x": -2498.95458984375,
                        "y": 5211.734375,
                        "z": 378.6277160644531
                    },
                    "rotation": {
                        "roll": -0.0008544960874132812,
                        "pitch": 0.12892664968967438,
                        "yaw": -89.73015594482422
                    }
                },
                "velocity": {
                    "x": 0.01948009990155697,
                    "y": -4.115880489349365,
                    "z": -0.011360864154994488
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.804731845855713,
                "transform": {
                    "location": {
                        "x": -2498.950927734375,
                        "y": 5192.85205078125,
                        "z": 378.5617980957031
                    },
                    "rotation": {
                        "roll": 0.014922412112355232,
                        "pitch": -0.30352675914764404,
                        "yaw": -89.87908172607422
                    }
                },
                "velocity": {
                    "x": 0.014035563915967941,
                    "y": -7.804667949676514,
                    "z": -0.028221987187862396
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.240938425064087,
                "transform": {
                    "location": {
                        "x": -2502.424072265625,
                        "y": 5257.0791015625,
                        "z": 378.7082214355469
                    },
                    "rotation": {
                        "roll": -0.0005798299098387361,
                        "pitch": -0.09939973801374435,
                        "yaw": -89.77552032470703
                    }
                },
                "velocity": {
                    "x": 0.0067354850471019745,
                    "y": -1.2409182786941528,
                    "z": -0.002129507018253207
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.887467861175537,
                "transform": {
                    "location": {
                        "x": -2502.447021484375,
                        "y": 5244.2392578125,
                        "z": 378.7026062011719
                    },
                    "rotation": {
                        "roll": -0.0008239756571128964,
                        "pitch": -0.18139615654945374,
                        "yaw": -89.64498901367188
                    }
                },
                "velocity": {
                    "x": 0.013831685297191143,
                    "y": -2.8874313831329346,
                    "z": -0.004239082336425781
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.9117376804351807,
                "transform": {
                    "location": {
                        "x": -2502.44873046875,
                        "y": 5211.0146484375,
                        "z": 378.61383056640625
                    },
                    "rotation": {
                        "roll": 0.0001709818752715364,
                        "pitch": -0.12011569738388062,
                        "yaw": -89.7789306640625
                    }
                },
                "velocity": {
                    "x": 0.014233885332942009,
                    "y": -3.911698579788208,
                    "z": -0.010166492313146591
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.94191312789917,
                "transform": {
                    "location": {
                        "x": -2502.453369140625,
                        "y": 5193.3359375,
                        "z": 378.5709533691406
                    },
                    "rotation": {
                        "roll": -0.0018005322199314833,
                        "pitch": -0.1958010196685791,
                        "yaw": -89.83428192138672
                    }
                },
                "velocity": {
                    "x": 0.017272111028432846,
                    "y": -7.941839218139648,
                    "z": -0.02965068817138672
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.489594459533691,
                "transform": {
                    "location": {
                        "x": -2505.91064453125,
                        "y": 5252.06982421875,
                        "z": 378.7053527832031
                    },
                    "rotation": {
                        "roll": 0.019802995026111603,
                        "pitch": 0.2724698781967163,
                        "yaw": -89.90106964111328
                    }
                },
                "velocity": {
                    "x": 0.018454652279615402,
                    "y": -10.489563941955566,
                    "z": -0.017071180045604706
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.877894401550293,
                "transform": {
                    "location": {
                        "x": -2505.916259765625,
                        "y": 5234.77587890625,
                        "z": 378.6826477050781
                    },
                    "rotation": {
                        "roll": 0.00948890671133995,
                        "pitch": -0.23477408289909363,
                        "yaw": -89.93560028076172
                    }
                },
                "velocity": {
                    "x": 0.00864080898463726,
                    "y": -9.877875328063965,
                    "z": -0.01748550310730934
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1558916568756104,
                "transform": {
                    "location": {
                        "x": -2505.965576171875,
                        "y": 5214.03564453125,
                        "z": 378.66754150390625
                    },
                    "rotation": {
                        "roll": -0.0014648407232016325,
                        "pitch": -0.15505211055278778,
                        "yaw": -89.58349609375
                    }
                },
                "velocity": {
                    "x": 0.010200475342571735,
                    "y": -2.1558587551116943,
                    "z": -0.006142587400972843
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.749631881713867,
                "transform": {
                    "location": {
                        "x": -2505.968017578125,
                        "y": 5197.9697265625,
                        "z": 378.5763854980469
                    },
                    "rotation": {
                        "roll": 0.00030855363002046943,
                        "pitch": -0.15832377970218658,
                        "yaw": -89.68930053710938
                    }
                },
                "velocity": {
                    "x": 0.03329765796661377,
                    "y": -6.74951171875,
                    "z": -0.022733235731720924
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.006114737130701542,
        "expert_target_speed": 10.149382646018395,
        "target_point": [
            42.3974609375,
            -0.034912109375002595
        ],
        "target_point_next": [
            94.27587890625,
            0.19165039062499423
        ]
    },
    "65": {
        "acceleration": [
            0.034434348344802856,
            0.4053688049316406,
            0.014935135841369629
        ],
        "angular_velocity": [
            2.0157601833343506,
            -0.008042044006288052,
            -0.5615152716636658
        ],
        "forward_vector": [
            0.000972554087638855,
            -0.9999680519104004,
            0.007932818494737148
        ],
        "right_vector": [
            0.9999995231628418,
            0.0009736748179420829,
            0.00013741455040872097
        ],
        "location": [
            -2502.50537109375,
            5224.22265625,
            378.6531982421875
        ],
        "rotation": [
            -0.00787352118641138,
            0.4545217454433441,
            -89.94427490234375
        ],
        "velocity": [
            0.013853201642632484,
            -10.874237060546875,
            -0.024877723306417465
        ],
        "speed": 10.874245884665607,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.375678062438965,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.4453125,
                5209.84716796875,
                378.6101989746094
            ],
            "velocity": [
                0.009327378123998642,
                -5.232302188873291,
                -0.016004076227545738
            ],
            "speed_kmh": 18.8364059222189,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.770587921142578,
                "transform": {
                    "location": {
                        "x": -2498.919921875,
                        "y": 5256.17919921875,
                        "z": 378.71014404296875
                    },
                    "rotation": {
                        "roll": 0.00033444096334278584,
                        "pitch": -0.05438196286559105,
                        "yaw": -89.69476318359375
                    }
                },
                "velocity": {
                    "x": 0.03698442503809929,
                    "y": -7.770491600036621,
                    "z": -0.011276216246187687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.44853401184082,
                "transform": {
                    "location": {
                        "x": -2498.91552734375,
                        "y": 5232.48974609375,
                        "z": 378.6668395996094
                    },
                    "rotation": {
                        "roll": 0.0009484718320891261,
                        "pitch": -0.1375121921300888,
                        "yaw": -89.9810791015625
                    }
                },
                "velocity": {
                    "x": 0.0028245216235518456,
                    "y": -11.448508262634277,
                    "z": -0.023742808029055595
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.509200096130371,
                "transform": {
                    "location": {
                        "x": -2498.94970703125,
                        "y": 5210.52001953125,
                        "z": 378.62457275390625
                    },
                    "rotation": {
                        "roll": 0.006155790761113167,
                        "pitch": 0.13163822889328003,
                        "yaw": -89.77404022216797
                    }
                },
                "velocity": {
                    "x": 0.01579161360859871,
                    "y": -5.509157657623291,
                    "z": -0.014767885208129883
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.290387153625488,
                "transform": {
                    "location": {
                        "x": -2498.947998046875,
                        "y": 5191.0078125,
                        "z": 378.555419921875
                    },
                    "rotation": {
                        "roll": 0.006540820933878422,
                        "pitch": -0.42659991979599,
                        "yaw": -89.89702606201172
                    }
                },
                "velocity": {
                    "x": 0.01296938769519329,
                    "y": -7.290323734283447,
                    "z": -0.027520546689629555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.5375614166259766,
                "transform": {
                    "location": {
                        "x": -2502.421142578125,
                        "y": 5256.65380859375,
                        "z": 378.7070617675781
                    },
                    "rotation": {
                        "roll": -0.00079345767153427,
                        "pitch": -0.03661664202809334,
                        "yaw": -89.8858871459961
                    }
                },
                "velocity": {
                    "x": 0.01218308974057436,
                    "y": -2.537529945373535,
                    "z": -0.003412008285522461
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9488635063171387,
                "transform": {
                    "location": {
                        "x": -2502.442626953125,
                        "y": 5243.384765625,
                        "z": 378.7012939453125
                    },
                    "rotation": {
                        "roll": -0.0013733030064031482,
                        "pitch": -0.1966547966003418,
                        "yaw": -89.67283630371094
                    }
                },
                "velocity": {
                    "x": 0.01923597976565361,
                    "y": -3.9488112926483154,
                    "z": -0.006424569990485907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.232335090637207,
                "transform": {
                    "location": {
                        "x": -2502.4453125,
                        "y": 5209.84716796875,
                        "z": 378.6101989746094
                    },
                    "rotation": {
                        "roll": 0.0011716887820512056,
                        "pitch": -0.0840727910399437,
                        "yaw": -89.92906951904297
                    }
                },
                "velocity": {
                    "x": 0.009327378123998642,
                    "y": -5.232302188873291,
                    "z": -0.016004076227545738
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.08204460144043,
                "transform": {
                    "location": {
                        "x": -2502.44921875,
                        "y": 5191.330078125,
                        "z": 378.5638122558594
                    },
                    "rotation": {
                        "roll": -0.0011291505070403218,
                        "pitch": -0.21859335899353027,
                        "yaw": -89.90612030029297
                    }
                },
                "velocity": {
                    "x": 0.012106567621231079,
                    "y": -8.081981658935547,
                    "z": -0.02956639789044857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.91073989868164,
                "transform": {
                    "location": {
                        "x": -2505.907470703125,
                        "y": 5249.61279296875,
                        "z": 378.7037048339844
                    },
                    "rotation": {
                        "roll": 0.017668049782514572,
                        "pitch": -0.36160385608673096,
                        "yaw": -89.93852996826172
                    }
                },
                "velocity": {
                    "x": 0.0058330390602350235,
                    "y": -8.910724639892578,
                    "z": -0.015518922358751297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.119596481323242,
                "transform": {
                    "location": {
                        "x": -2505.9150390625,
                        "y": 5232.59375,
                        "z": 378.6783447265625
                    },
                    "rotation": {
                        "roll": 0.005159391090273857,
                        "pitch": -0.40713390707969666,
                        "yaw": -89.9773178100586
                    }
                },
                "velocity": {
                    "x": 0.002350941300392151,
                    "y": -8.11957836151123,
                    "z": -0.01705031283199787
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9511961936950684,
                "transform": {
                    "location": {
                        "x": -2505.962158203125,
                        "y": 5213.416015625,
                        "z": 378.6653137207031
                    },
                    "rotation": {
                        "roll": -0.0011596698313951492,
                        "pitch": -0.10138048976659775,
                        "yaw": -89.62151336669922
                    }
                },
                "velocity": {
                    "x": 0.014017462730407715,
                    "y": -2.9511525630950928,
                    "z": -0.007811736781150103
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.563136100769043,
                "transform": {
                    "location": {
                        "x": -2505.958984375,
                        "y": 5196.1552734375,
                        "z": 378.570068359375
                    },
                    "rotation": {
                        "roll": -0.0006103573832660913,
                        "pitch": -0.16921792924404144,
                        "yaw": -89.7249755859375
                    }
                },
                "velocity": {
                    "x": 0.034556932747364044,
                    "y": -7.563014507293701,
                    "z": -0.025381706655025482
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3459063768386841,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.011562741361558437,
        "expert_target_speed": 10.80047241777394,
        "target_point": [
            39.73920238530993,
            -0.07616136060263477
        ],
        "target_point_next": [
            91.61781686891072,
            0.09973852186893443
        ]
    },
    "70": {
        "acceleration": [
            0.02583395689725876,
            0.7712554931640625,
            0.0006725266575813293
        ],
        "angular_velocity": [
            1.0850224494934082,
            -0.021925032138824463,
            2.0908265113830566
        ],
        "forward_vector": [
            0.0018926410702988505,
            -0.9999982118606567,
            -0.00015401838754769415
        ],
        "right_vector": [
            0.9999982118606567,
            0.0018926140619441867,
            0.00017523595306556672
        ],
        "location": [
            -2502.501220703125,
            5221.5546875,
            378.64849853515625
        ],
        "rotation": [
            -0.010040280409157276,
            -0.008824603632092476,
            -89.89156341552734
        ],
        "velocity": [
            0.020753078162670135,
            -10.571298599243164,
            -0.025689605623483658
        ],
        "speed": 10.571318969958938,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.161334991455078,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.4423828125,
                5208.3935546875,
                378.6055908203125
            ],
            "velocity": [
                0.010910466313362122,
                -7.003059387207031,
                -0.021377282217144966
            ],
            "speed_kmh": 25.21116184989407,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.028433799743652,
                "transform": {
                    "location": {
                        "x": -2498.911865234375,
                        "y": 5254.12255859375,
                        "z": 378.706787109375
                    },
                    "rotation": {
                        "roll": 0.0017955182120203972,
                        "pitch": -0.04662969708442688,
                        "yaw": -89.82249450683594
                    }
                },
                "velocity": {
                    "x": 0.021593263372778893,
                    "y": -9.028396606445312,
                    "z": -0.014199189841747284
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.01584243774414,
                "transform": {
                    "location": {
                        "x": -2498.91552734375,
                        "y": 5229.814453125,
                        "z": 378.6618347167969
                    },
                    "rotation": {
                        "roll": 0.0009146904340013862,
                        "pitch": -0.19643622636795044,
                        "yaw": -90.00188446044922
                    }
                },
                "velocity": {
                    "x": -5.112417784403078e-05,
                    "y": -10.01582145690918,
                    "z": -0.020541952922940254
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.055407524108887,
                "transform": {
                    "location": {
                        "x": -2498.945068359375,
                        "y": 5209.08349609375,
                        "z": 378.62017822265625
                    },
                    "rotation": {
                        "roll": -0.002624511020258069,
                        "pitch": 0.007137547247111797,
                        "yaw": -89.61419677734375
                    }
                },
                "velocity": {
                    "x": 0.021143779158592224,
                    "y": -6.055344104766846,
                    "z": -0.01804199628531933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.167019844055176,
                "transform": {
                    "location": {
                        "x": -2498.9462890625,
                        "y": 5189.08447265625,
                        "z": 378.5469055175781
                    },
                    "rotation": {
                        "roll": 0.009887867607176304,
                        "pitch": -0.07662788778543472,
                        "yaw": -89.94877624511719
                    }
                },
                "velocity": {
                    "x": 0.004335710778832436,
                    "y": -8.166963577270508,
                    "z": -0.030023373663425446
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5001486539840698,
                "transform": {
                    "location": {
                        "x": -2502.42236328125,
                        "y": 5256.1962890625,
                        "z": 378.7066345214844
                    },
                    "rotation": {
                        "roll": 0.0006765362340956926,
                        "pitch": -0.08156611770391464,
                        "yaw": -89.49929809570312
                    }
                },
                "velocity": {
                    "x": 0.0006873598322272301,
                    "y": -1.5001477003097534,
                    "z": -0.0015355872455984354
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.051984786987305,
                "transform": {
                    "location": {
                        "x": -2502.43701171875,
                        "y": 5242.251953125,
                        "z": 378.69952392578125
                    },
                    "rotation": {
                        "roll": -0.0011596919503062963,
                        "pitch": -0.2039152830839157,
                        "yaw": -89.6961898803711
                    }
                },
                "velocity": {
                    "x": 0.02471212111413479,
                    "y": -5.051924228668213,
                    "z": -0.0020947647280991077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.003100395202637,
                "transform": {
                    "location": {
                        "x": -2502.4423828125,
                        "y": 5208.3935546875,
                        "z": 378.6055908203125
                    },
                    "rotation": {
                        "roll": 0.0002036734513239935,
                        "pitch": -0.05380139872431755,
                        "yaw": -89.98735809326172
                    }
                },
                "velocity": {
                    "x": 0.010910466313362122,
                    "y": -7.003059387207031,
                    "z": -0.021377282217144966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03448486328125,
                "transform": {
                    "location": {
                        "x": -2502.447265625,
                        "y": 5189.3134765625,
                        "z": 378.5562438964844
                    },
                    "rotation": {
                        "roll": -0.0017089995089918375,
                        "pitch": -0.21112114191055298,
                        "yaw": -89.91885375976562
                    }
                },
                "velocity": {
                    "x": 0.005863330326974392,
                    "y": -8.034430503845215,
                    "z": -0.02895667962729931
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.388155937194824,
                "transform": {
                    "location": {
                        "x": -2505.90625,
                        "y": 5247.62158203125,
                        "z": 378.70172119140625
                    },
                    "rotation": {
                        "roll": 0.008722732774913311,
                        "pitch": -0.6770356297492981,
                        "yaw": -89.97467803955078
                    }
                },
                "velocity": {
                    "x": 0.0033825587015599012,
                    "y": -7.388143062591553,
                    "z": -0.013214320875704288
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.435864448547363,
                "transform": {
                    "location": {
                        "x": -2505.9150390625,
                        "y": 5230.54541015625,
                        "z": 378.67425537109375
                    },
                    "rotation": {
                        "roll": 0.002828980330377817,
                        "pitch": -0.13741657137870789,
                        "yaw": -89.99334716796875
                    }
                },
                "velocity": {
                    "x": -0.00037579250056296587,
                    "y": -8.435845375061035,
                    "z": -0.017608700320124626
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.305366516113281,
                "transform": {
                    "location": {
                        "x": -2505.95751953125,
                        "y": 5212.50048828125,
                        "z": 378.662109375
                    },
                    "rotation": {
                        "roll": -0.0003662105882540345,
                        "pitch": -0.03424656763672829,
                        "yaw": -89.66341400146484
                    }
                },
                "velocity": {
                    "x": 0.020730813965201378,
                    "y": -4.30530309677124,
                    "z": -0.01078715268522501
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.676338195800781,
                "transform": {
                    "location": {
                        "x": -2505.95166015625,
                        "y": 5194.1015625,
                        "z": 378.5627746582031
                    },
                    "rotation": {
                        "roll": 0.0011626847553998232,
                        "pitch": -0.17102110385894775,
                        "yaw": -89.82415771484375
                    }
                },
                "velocity": {
                    "x": 0.02062976360321045,
                    "y": -8.676258087158203,
                    "z": -0.030943244695663452
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.33961454033851624,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.017981931567192078,
        "expert_target_speed": 10.54730785530142,
        "target_point": [
            37.071140778618904,
            -0.11276835320450099
        ],
        "target_point_next": [
            88.94989842500065,
            0.01406450813085644
        ]
    },
    "75": {
        "acceleration": [
            0.023247450590133667,
            5.486583709716797,
            0.029201805591583252
        ],
        "angular_velocity": [
            0.9918268918991089,
            -0.09395606070756912,
            -2.1327743530273438
        ],
        "forward_vector": [
            0.002553967060521245,
            -0.9999322295188904,
            -0.011354916729032993
        ],
        "right_vector": [
            0.9999967217445374,
            0.0025517065078020096,
            0.00021357227524276823
        ],
        "location": [
            -2502.495849609375,
            5219.22314453125,
            378.6449890136719
        ],
        "rotation": [
            -0.012237579561769962,
            -0.6506028175354004,
            -89.8536605834961
        ],
        "velocity": [
            0.024880673736333847,
            -8.467223167419434,
            -0.022112902253866196
        ],
        "speed": 8.467259722886144,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.794637680053711,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.439697265625,
                5206.4287109375,
                378.599609375
            ],
            "velocity": [
                0.013500788249075413,
                -8.446334838867188,
                -0.026440419256687164
            ],
            "speed_kmh": 30.40699324763973,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.824747085571289,
                "transform": {
                    "location": {
                        "x": -2498.906494140625,
                        "y": 5251.75537109375,
                        "z": 378.70306396484375
                    },
                    "rotation": {
                        "roll": 0.0009667857084423304,
                        "pitch": -0.05901966243982315,
                        "yaw": -89.9310302734375
                    }
                },
                "velocity": {
                    "x": 0.014563169330358505,
                    "y": -9.824725151062012,
                    "z": -0.014543895609676838
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.30180835723877,
                "transform": {
                    "location": {
                        "x": -2498.915771484375,
                        "y": 5227.50537109375,
                        "z": 378.6569519042969
                    },
                    "rotation": {
                        "roll": 0.001283405814319849,
                        "pitch": -0.23291626572608948,
                        "yaw": -90.011474609375
                    }
                },
                "velocity": {
                    "x": -0.003179745515808463,
                    "y": -8.301786422729492,
                    "z": -0.019144048914313316
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.715581893920898,
                "transform": {
                    "location": {
                        "x": -2498.940673828125,
                        "y": 5207.43115234375,
                        "z": 378.61529541015625
                    },
                    "rotation": {
                        "roll": 0.004346095956861973,
                        "pitch": 0.15019585192203522,
                        "yaw": -89.83966064453125
                    }
                },
                "velocity": {
                    "x": 0.0169343464076519,
                    "y": -7.715526103973389,
                    "z": -0.02400709129869938
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.16910171508789,
                "transform": {
                    "location": {
                        "x": -2498.945068359375,
                        "y": 5187.00634765625,
                        "z": 378.53924560546875
                    },
                    "rotation": {
                        "roll": 0.005192677490413189,
                        "pitch": -0.11026656627655029,
                        "yaw": -89.97148132324219
                    }
                },
                "velocity": {
                    "x": 0.0028198014479130507,
                    "y": -8.169049263000488,
                    "z": -0.02929540164768696
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1655521392822266,
                "transform": {
                    "location": {
                        "x": -2502.427001953125,
                        "y": 5255.81298828125,
                        "z": 378.70623779296875
                    },
                    "rotation": {
                        "roll": 9.422214498044923e-05,
                        "pitch": -0.12582573294639587,
                        "yaw": -89.07479095458984
                    }
                },
                "velocity": {
                    "x": -0.01760988123714924,
                    "y": -1.165398359298706,
                    "z": -0.006944227032363415
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.54964017868042,
                "transform": {
                    "location": {
                        "x": -2502.431396484375,
                        "y": 5240.93408203125,
                        "z": 378.6970520019531
                    },
                    "rotation": {
                        "roll": -0.0028991790022701025,
                        "pitch": -0.15417784452438354,
                        "yaw": -89.7003402709961
                    }
                },
                "velocity": {
                    "x": 0.011469908989965916,
                    "y": -5.549619197845459,
                    "z": -0.010153989307582378
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.44638729095459,
                "transform": {
                    "location": {
                        "x": -2502.439697265625,
                        "y": 5206.4287109375,
                        "z": 378.599609375
                    },
                    "rotation": {
                        "roll": -0.0006408709450624883,
                        "pitch": -0.06793306022882462,
                        "yaw": -89.9325180053711
                    }
                },
                "velocity": {
                    "x": 0.013500788249075413,
                    "y": -8.446334838867188,
                    "z": -0.026440419256687164
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.025229454040527,
                "transform": {
                    "location": {
                        "x": -2502.44580078125,
                        "y": 5187.30810546875,
                        "z": 378.54876708984375
                    },
                    "rotation": {
                        "roll": -0.0012207113904878497,
                        "pitch": -0.21453623473644257,
                        "yaw": -89.98397064208984
                    }
                },
                "velocity": {
                    "x": 0.0015266287373378873,
                    "y": -8.025172233581543,
                    "z": -0.030195340514183044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.465013027191162,
                "transform": {
                    "location": {
                        "x": -2505.905517578125,
                        "y": 5245.79296875,
                        "z": 378.6974182128906
                    },
                    "rotation": {
                        "roll": 0.007059064228087664,
                        "pitch": -0.331025093793869,
                        "yaw": -89.9836654663086
                    }
                },
                "velocity": {
                    "x": -0.0006924712215550244,
                    "y": -7.465001106262207,
                    "z": -0.01333631481975317
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.739872932434082,
                "transform": {
                    "location": {
                        "x": -2505.91552734375,
                        "y": 5228.49658203125,
                        "z": 378.669921875
                    },
                    "rotation": {
                        "roll": 0.0017557466635480523,
                        "pitch": -0.23303237557411194,
                        "yaw": -90.01586151123047
                    }
                },
                "velocity": {
                    "x": -0.003081670729443431,
                    "y": -7.7398529052734375,
                    "z": -0.017410583794116974
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.275048732757568,
                "transform": {
                    "location": {
                        "x": -2505.951416015625,
                        "y": 5211.2646484375,
                        "z": 378.6590576171875
                    },
                    "rotation": {
                        "roll": -0.00021362354164011776,
                        "pitch": -0.04091966152191162,
                        "yaw": -89.69256591796875
                    }
                },
                "velocity": {
                    "x": 0.02465200610458851,
                    "y": -5.274972915649414,
                    "z": -0.013949432410299778
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.269070625305176,
                "transform": {
                    "location": {
                        "x": -2505.94677734375,
                        "y": 5191.98828125,
                        "z": 378.5554504394531
                    },
                    "rotation": {
                        "roll": 0.0005374208558350801,
                        "pitch": -0.21423570811748505,
                        "yaw": -89.92133331298828
                    }
                },
                "velocity": {
                    "x": 0.012964683584868908,
                    "y": -8.269006729125977,
                    "z": -0.029712829738855362
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.027567671611905098,
        "expert_target_speed": 8.977765487256878,
        "target_point": [
            34.73951534825447,
            -0.13501589623226828
        ],
        "target_point_next": [
            86.61834116872608,
            -0.040079096741558295
        ]
    },
    "80": {
        "acceleration": [
            0.0044128671288490295,
            3.9961719512939453,
            -0.0011667236685752869
        ],
        "angular_velocity": [
            -0.26567789912223816,
            0.10105738043785095,
            2.9384825229644775
        ],
        "forward_vector": [
            0.003675757208839059,
            -0.9999258518218994,
            -0.011610961519181728
        ],
        "right_vector": [
            0.9999932646751404,
            0.0036741557996720076,
            0.0001592477783560753
        ],
        "location": [
            -2502.4892578125,
            5217.25341796875,
            378.6400451660156
        ],
        "rotation": [
            -0.00912484060972929,
            -0.6652740240097046,
            -89.78938293457031
        ],
        "velocity": [
            0.02749929204583168,
            -7.377678871154785,
            -0.020539259538054466
        ],
        "speed": 7.377730120907565,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.896180152893066,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.43798828125,
                5204.357421875,
                378.59393310546875
            ],
            "velocity": [
                0.0040611508302390575,
                -8.014638900756836,
                -0.02476091869175434
            ],
            "speed_kmh": 28.852841442744,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.520785331726074,
                "transform": {
                    "location": {
                        "x": -2498.903564453125,
                        "y": 5249.2080078125,
                        "z": 378.6991271972656
                    },
                    "rotation": {
                        "roll": 0.0007646681624464691,
                        "pitch": -0.06826774030923843,
                        "yaw": -89.9932861328125
                    }
                },
                "velocity": {
                    "x": 0.004709579050540924,
                    "y": -10.520770072937012,
                    "z": -0.017526626586914062
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.039409637451172,
                "transform": {
                    "location": {
                        "x": -2498.916259765625,
                        "y": 5225.5068359375,
                        "z": 378.6519775390625
                    },
                    "rotation": {
                        "roll": 0.0008526170859113336,
                        "pitch": -0.17675162851810455,
                        "yaw": -90.01628112792969
                    }
                },
                "velocity": {
                    "x": -0.0038030711002647877,
                    "y": -8.039387702941895,
                    "z": -0.018318943679332733
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.390460968017578,
                "transform": {
                    "location": {
                        "x": -2498.93701171875,
                        "y": 5205.34130859375,
                        "z": 378.6087341308594
                    },
                    "rotation": {
                        "roll": 0.006166235543787479,
                        "pitch": 0.0117069436237216,
                        "yaw": -89.8939208984375
                    }
                },
                "velocity": {
                    "x": 0.010167721658945084,
                    "y": -8.390417098999023,
                    "z": -0.02522929199039936
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.825585842132568,
                "transform": {
                    "location": {
                        "x": -2498.944580078125,
                        "y": 5185.02685546875,
                        "z": 378.53253173828125
                    },
                    "rotation": {
                        "roll": 0.005108703393489122,
                        "pitch": -0.297939658164978,
                        "yaw": -89.99114990234375
                    }
                },
                "velocity": {
                    "x": -0.0005550034111365676,
                    "y": -7.825528621673584,
                    "z": -0.029960040003061295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.2644762992858887,
                "transform": {
                    "location": {
                        "x": -2502.42529296875,
                        "y": 5255.1904296875,
                        "z": 378.70452880859375
                    },
                    "rotation": {
                        "roll": 0.00038135165232233703,
                        "pitch": -0.007964000105857849,
                        "yaw": -89.21401977539062
                    }
                },
                "velocity": {
                    "x": 0.01137735228985548,
                    "y": -3.2644522190093994,
                    "z": -0.005137281492352486
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.063446998596191,
                "transform": {
                    "location": {
                        "x": -2502.427978515625,
                        "y": 5239.4951171875,
                        "z": 378.6944580078125
                    },
                    "rotation": {
                        "roll": -0.0023803748190402985,
                        "pitch": -0.14318807423114777,
                        "yaw": -89.76445770263672
                    }
                },
                "velocity": {
                    "x": 0.009802186861634254,
                    "y": -6.063429832458496,
                    "z": -0.010650387033820152
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.014678001403809,
                "transform": {
                    "location": {
                        "x": -2502.43798828125,
                        "y": 5204.357421875,
                        "z": 378.59393310546875
                    },
                    "rotation": {
                        "roll": 0.0009691372397355735,
                        "pitch": -0.169094979763031,
                        "yaw": -89.95000457763672
                    }
                },
                "velocity": {
                    "x": 0.0040611508302390575,
                    "y": -8.014638900756836,
                    "z": -0.02476091869175434
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.044427871704102,
                "transform": {
                    "location": {
                        "x": -2502.445556640625,
                        "y": 5185.29833984375,
                        "z": 378.54119873046875
                    },
                    "rotation": {
                        "roll": -0.0007629389292560518,
                        "pitch": -0.21771226823329926,
                        "yaw": -89.96822357177734
                    }
                },
                "velocity": {
                    "x": 0.0013559567742049694,
                    "y": -8.04437255859375,
                    "z": -0.029712967574596405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.009058952331543,
                "transform": {
                    "location": {
                        "x": -2505.90576171875,
                        "y": 5243.8193359375,
                        "z": 378.6929626464844
                    },
                    "rotation": {
                        "roll": 0.003871862543746829,
                        "pitch": 0.006959962192922831,
                        "yaw": -90.00894165039062
                    }
                },
                "velocity": {
                    "x": -0.0012348751770332456,
                    "y": -8.009047508239746,
                    "z": -0.013321132399141788
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.167384147644043,
                "transform": {
                    "location": {
                        "x": -2505.91650390625,
                        "y": 5226.73193359375,
                        "z": 378.6659240722656
                    },
                    "rotation": {
                        "roll": 0.002390142995864153,
                        "pitch": -0.39615094661712646,
                        "yaw": -90.023681640625
                    }
                },
                "velocity": {
                    "x": -0.0034159712959080935,
                    "y": -6.167366027832031,
                    "z": -0.014587382785975933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.639685153961182,
                "transform": {
                    "location": {
                        "x": -2505.947509765625,
                        "y": 5209.90625,
                        "z": 378.65557861328125
                    },
                    "rotation": {
                        "roll": 0.0018714250763878226,
                        "pitch": -0.10711785405874252,
                        "yaw": -89.73672485351562
                    }
                },
                "velocity": {
                    "x": 0.01180807314813137,
                    "y": -5.639645099639893,
                    "z": -0.017723646014928818
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.041430473327637,
                "transform": {
                    "location": {
                        "x": -2505.944091796875,
                        "y": 5189.958984375,
                        "z": 378.5479736328125
                    },
                    "rotation": {
                        "roll": 0.0016308465274050832,
                        "pitch": -0.22091563045978546,
                        "yaw": -89.97262573242188
                    }
                },
                "velocity": {
                    "x": 0.005267365835607052,
                    "y": -8.041375160217285,
                    "z": -0.02939014323055744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03796027973294258,
        "expert_target_speed": 8.0203445805425,
        "target_point": [
            32.76959975934906,
            -0.17427102152870289
        ],
        "target_point_next": [
            84.64850042613499,
            -0.13895654166651636
        ]
    },
    "85": {
        "acceleration": [
            -0.03184482455253601,
            5.691413879394531,
            0.024299807846546173
        ],
        "angular_velocity": [
            0.9247854948043823,
            0.010431005619466305,
            -0.129097118973732
        ],
        "forward_vector": [
            0.0034492819104343653,
            -0.9999282956123352,
            -0.011466250754892826
        ],
        "right_vector": [
            0.9999940395355225,
            0.0034478779416531324,
            0.00014220316370483488
        ],
        "location": [
            -2502.482421875,
            5215.5078125,
            378.63519287109375
        ],
        "rotation": [
            -0.008148177526891232,
            -0.6569821834564209,
            -89.80236053466797
        ],
        "velocity": [
            0.026069924235343933,
            -6.276002883911133,
            -0.017316846176981926
        ],
        "speed": 6.276057029681175,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.126142501831055,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.436767578125,
                5202.3818359375,
                378.5876770019531
            ],
            "velocity": [
                0.005554978735744953,
                -7.954093933105469,
                -0.026251649484038353
            ],
            "speed_kmh": 28.634901095238092,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.425677299499512,
                "transform": {
                    "location": {
                        "x": -2498.90283203125,
                        "y": 5246.5517578125,
                        "z": 378.6949768066406
                    },
                    "rotation": {
                        "roll": 0.0016650272300466895,
                        "pitch": -0.0893593579530716,
                        "yaw": -90.02971649169922
                    }
                },
                "velocity": {
                    "x": -0.0012216127943247557,
                    "y": -10.425662994384766,
                    "z": -0.01706887222826481
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.963861465454102,
                "transform": {
                    "location": {
                        "x": -2498.917236328125,
                        "y": 5223.38818359375,
                        "z": 378.64654541015625
                    },
                    "rotation": {
                        "roll": -0.00015258888015523553,
                        "pitch": -0.09213241934776306,
                        "yaw": -90.02230834960938
                    }
                },
                "velocity": {
                    "x": -0.0035081494133919477,
                    "y": -8.963836669921875,
                    "z": -0.020872144028544426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.8068623542785645,
                "transform": {
                    "location": {
                        "x": -2498.935546875,
                        "y": 5203.33056640625,
                        "z": 378.6023254394531
                    },
                    "rotation": {
                        "roll": 0.00345610361546278,
                        "pitch": -0.23193271458148956,
                        "yaw": -89.97360229492188
                    }
                },
                "velocity": {
                    "x": 0.003242314327508211,
                    "y": -7.806820392608643,
                    "z": -0.025380181148648262
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.155112266540527,
                "transform": {
                    "location": {
                        "x": -2498.94482421875,
                        "y": 5183.0263671875,
                        "z": 378.5244140625
                    },
                    "rotation": {
                        "roll": 0.004996596369892359,
                        "pitch": -0.16177302598953247,
                        "yaw": -90.00881958007812
                    }
                },
                "velocity": {
                    "x": -0.002431274624541402,
                    "y": -8.155056953430176,
                    "z": -0.03002033568918705
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.5454206466674805,
                "transform": {
                    "location": {
                        "x": -2502.420654296875,
                        "y": 5254.20751953125,
                        "z": 378.702880859375
                    },
                    "rotation": {
                        "roll": 3.916019340977073e-05,
                        "pitch": -0.0061949812807142735,
                        "yaw": -89.41478729248047
                    }
                },
                "velocity": {
                    "x": 0.01301710307598114,
                    "y": -4.54539680480957,
                    "z": -0.006861800793558359
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.876188278198242,
                "transform": {
                    "location": {
                        "x": -2502.423583984375,
                        "y": 5237.7001953125,
                        "z": 378.692138671875
                    },
                    "rotation": {
                        "roll": -0.001281739678233862,
                        "pitch": -0.24841396510601044,
                        "yaw": -89.84980773925781
                    }
                },
                "velocity": {
                    "x": 0.01434369571506977,
                    "y": -7.876163005828857,
                    "z": -0.013965406455099583
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.954139232635498,
                "transform": {
                    "location": {
                        "x": -2502.436767578125,
                        "y": 5202.3818359375,
                        "z": 378.5876770019531
                    },
                    "rotation": {
                        "roll": 0.0002607492497190833,
                        "pitch": -0.19202393293380737,
                        "yaw": -89.96011352539062
                    }
                },
                "velocity": {
                    "x": 0.005554978735744953,
                    "y": -7.954093933105469,
                    "z": -0.026251649484038353
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034823417663574,
                "transform": {
                    "location": {
                        "x": -2502.445556640625,
                        "y": 5183.28857421875,
                        "z": 378.5335998535156
                    },
                    "rotation": {
                        "roll": -0.0007934547611512244,
                        "pitch": -0.2157861590385437,
                        "yaw": -90.02407836914062
                    }
                },
                "velocity": {
                    "x": -0.0032124759163707495,
                    "y": -8.034768104553223,
                    "z": -0.02956579625606537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.02719783782959,
                "transform": {
                    "location": {
                        "x": -2505.90625,
                        "y": 5241.9375,
                        "z": 378.6910705566406
                    },
                    "rotation": {
                        "roll": 0.002667413791641593,
                        "pitch": -0.3070921301841736,
                        "yaw": -90.01324462890625
                    }
                },
                "velocity": {
                    "x": -0.0019327504560351372,
                    "y": -7.02718448638916,
                    "z": -0.013610496185719967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.960641384124756,
                "transform": {
                    "location": {
                        "x": -2505.916748046875,
                        "y": 5225.61669921875,
                        "z": 378.6631164550781
                    },
                    "rotation": {
                        "roll": -0.00021361306426115334,
                        "pitch": -0.5423579812049866,
                        "yaw": -90.02542114257812
                    }
                },
                "velocity": {
                    "x": -0.0018425697926431894,
                    "y": -3.960630416870117,
                    "z": -0.009114999324083328
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.749627113342285,
                "transform": {
                    "location": {
                        "x": -2505.943359375,
                        "y": 5208.283203125,
                        "z": 378.64947509765625
                    },
                    "rotation": {
                        "roll": 0.0018464165041223168,
                        "pitch": 0.021330678835511208,
                        "yaw": -89.83165740966797
                    }
                },
                "velocity": {
                    "x": 0.014707375317811966,
                    "y": -7.749577045440674,
                    "z": -0.02362070046365261
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.808226108551025,
                "transform": {
                    "location": {
                        "x": -2505.943115234375,
                        "y": 5188.14013671875,
                        "z": 378.5414733886719
                    },
                    "rotation": {
                        "roll": 0.0011376775801181793,
                        "pitch": -0.25164464116096497,
                        "yaw": -89.98699951171875
                    }
                },
                "velocity": {
                    "x": 0.0005576019175350666,
                    "y": -6.808182239532471,
                    "z": -0.024419406428933144
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04955771937966347,
        "expert_target_speed": 7.055872288894928,
        "target_point": [
            31.02402093747505,
            -0.16741927108414106
        ],
        "target_point_next": [
            82.90291193109624,
            -0.11997689867984909
        ]
    },
    "90": {
        "acceleration": [
            0.008777305483818054,
            -0.1587200164794922,
            -0.00792045146226883
        ],
        "angular_velocity": [
            -1.295824646949768,
            -0.027469554916024208,
            0.09638425707817078
        ],
        "forward_vector": [
            0.0036633333656936884,
            -0.9999510645866394,
            -0.009187688119709492
        ],
        "right_vector": [
            0.9999932646751404,
            0.0036628274247050285,
            7.19027520972304e-05
        ],
        "location": [
            -2502.4765625,
            5214.0146484375,
            378.6306457519531
        ],
        "rotation": [
            -0.004119898192584515,
            -0.5264231562614441,
            -89.79010009765625
        ],
        "velocity": [
            0.024036208167672157,
            -5.835505962371826,
            -0.017225751653313637
        ],
        "speed": 5.835555464236478,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.654936790466309,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.435791015625,
                5200.35986328125,
                378.5809020996094
            ],
            "velocity": [
                -0.0010133818723261356,
                -8.131037712097168,
                -0.027091769501566887
            ],
            "speed_kmh": 29.27189847094602,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.891383171081543,
                "transform": {
                    "location": {
                        "x": -2498.903564453125,
                        "y": 5243.99755859375,
                        "z": 378.6910705566406
                    },
                    "rotation": {
                        "roll": 0.0013095410540699959,
                        "pitch": -0.11020509898662567,
                        "yaw": -90.04049682617188
                    }
                },
                "velocity": {
                    "x": -0.004713809583336115,
                    "y": -9.89136791229248,
                    "z": -0.016980953514575958
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.209040641784668,
                "transform": {
                    "location": {
                        "x": -2498.918212890625,
                        "y": 5220.9853515625,
                        "z": 378.6404724121094
                    },
                    "rotation": {
                        "roll": 0.0003325917641632259,
                        "pitch": -0.07211313396692276,
                        "yaw": -90.02965545654297
                    }
                },
                "velocity": {
                    "x": -0.007053660228848457,
                    "y": -10.209006309509277,
                    "z": -0.025377925485372543
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.104521751403809,
                "transform": {
                    "location": {
                        "x": -2498.934814453125,
                        "y": 5201.3544921875,
                        "z": 378.5959167480469
                    },
                    "rotation": {
                        "roll": 0.0027219143230468035,
                        "pitch": -0.15975812077522278,
                        "yaw": -89.9672622680664
                    }
                },
                "velocity": {
                    "x": 0.002789876190945506,
                    "y": -8.10447883605957,
                    "z": -0.02599484845995903
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019296646118164,
                "transform": {
                    "location": {
                        "x": -2498.94580078125,
                        "y": 5180.99755859375,
                        "z": 378.5168151855469
                    },
                    "rotation": {
                        "roll": 0.0014376998879015446,
                        "pitch": -0.23320996761322021,
                        "yaw": -90.01611328125
                    }
                },
                "velocity": {
                    "x": -0.0022696107625961304,
                    "y": -8.019227027893066,
                    "z": -0.03341009467840195
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.293051719665527,
                "transform": {
                    "location": {
                        "x": -2502.415771484375,
                        "y": 5252.92626953125,
                        "z": 378.7010192871094
                    },
                    "rotation": {
                        "roll": 0.0006616604514420033,
                        "pitch": -0.026241585612297058,
                        "yaw": -89.638916015625
                    }
                },
                "velocity": {
                    "x": 0.012348734773695469,
                    "y": -5.293027877807617,
                    "z": -0.009979333728551865
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.771020889282227,
                "transform": {
                    "location": {
                        "x": -2502.419677734375,
                        "y": 5235.6123046875,
                        "z": 378.6881103515625
                    },
                    "rotation": {
                        "roll": -0.0027770905289798975,
                        "pitch": -0.20898328721523285,
                        "yaw": -89.8875961303711
                    }
                },
                "velocity": {
                    "x": 0.008303899317979813,
                    "y": -8.771001815795898,
                    "z": -0.016346855089068413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.131082534790039,
                "transform": {
                    "location": {
                        "x": -2502.435791015625,
                        "y": 5200.35986328125,
                        "z": 378.5809020996094
                    },
                    "rotation": {
                        "roll": 0.0008598210988566279,
                        "pitch": -0.18283049762248993,
                        "yaw": -89.9818115234375
                    }
                },
                "velocity": {
                    "x": -0.0010133818723261356,
                    "y": -8.131037712097168,
                    "z": -0.027091769501566887
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03597640991211,
                "transform": {
                    "location": {
                        "x": -2502.44677734375,
                        "y": 5181.27978515625,
                        "z": 378.52587890625
                    },
                    "rotation": {
                        "roll": -0.00021361844846978784,
                        "pitch": -0.22351109981536865,
                        "yaw": -90.00054168701172
                    }
                },
                "velocity": {
                    "x": -0.002745784353464842,
                    "y": -8.035910606384277,
                    "z": -0.032440751791000366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8237757682800293,
                "transform": {
                    "location": {
                        "x": -2505.90673828125,
                        "y": 5240.46875,
                        "z": 378.6907653808594
                    },
                    "rotation": {
                        "roll": 0.0020868638530373573,
                        "pitch": -0.9624009132385254,
                        "yaw": -89.99916076660156
                    }
                },
                "velocity": {
                    "x": -0.0007539336220361292,
                    "y": -3.8237645626068115,
                    "z": -0.00914850179105997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.1376824378967285,
                "transform": {
                    "location": {
                        "x": -2505.91748046875,
                        "y": 5224.48046875,
                        "z": 378.6607971191406
                    },
                    "rotation": {
                        "roll": -0.0003356915549375117,
                        "pitch": -0.04440305754542351,
                        "yaw": -90.02557373046875
                    }
                },
                "velocity": {
                    "x": -0.0022717348765581846,
                    "y": -5.1376800537109375,
                    "z": -0.0043932911939918995
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.375727653503418,
                "transform": {
                    "location": {
                        "x": -2505.93896484375,
                        "y": 5206.20947265625,
                        "z": 378.6438903808594
                    },
                    "rotation": {
                        "roll": 0.0008339573396369815,
                        "pitch": -0.0716213583946228,
                        "yaw": -89.88825225830078
                    }
                },
                "velocity": {
                    "x": 0.014955565333366394,
                    "y": -8.375675201416016,
                    "z": -0.02563941851258278
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.1912312507629395,
                "transform": {
                    "location": {
                        "x": -2505.943115234375,
                        "y": 5186.41064453125,
                        "z": 378.5345764160156
                    },
                    "rotation": {
                        "roll": -0.0005188045324757695,
                        "pitch": -0.21447475254535675,
                        "yaw": -90.00151062011719
                    }
                },
                "velocity": {
                    "x": -0.0013842479093000293,
                    "y": -7.191181659698486,
                    "z": -0.026736468076705933
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05562542378902435,
        "expert_target_speed": 6.671594504892508,
        "target_point": [
            29.530811104199202,
            -0.17406755964877743
        ],
        "target_point_next": [
            81.4097105965934,
            -0.13706803544963417
        ]
    },
    "95": {
        "acceleration": [
            0.0693308562040329,
            -11.988763809204102,
            -0.011601932346820831
        ],
        "angular_velocity": [
            -4.224585056304932,
            -0.03437560051679611,
            0.1291477531194687
        ],
        "forward_vector": [
            0.0041566528379917145,
            -0.9999913573265076,
            -0.0002007484290516004
        ],
        "right_vector": [
            0.9999913573265076,
            0.004156636539846659,
            8.096008969005197e-05
        ],
        "location": [
            -2502.47021484375,
            5212.47900390625,
            378.6242980957031
        ],
        "rotation": [
            -0.004638671409338713,
            -0.011502037756145,
            -89.7618408203125
        ],
        "velocity": [
            0.032191138714551926,
            -7.094887733459473,
            -0.01884687878191471
        ],
        "speed": 7.0949607623866,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.137337684631348,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.43603515625,
                5198.341796875,
                378.57415771484375
            ],
            "velocity": [
                -0.0011394912144169211,
                -8.019997596740723,
                -0.025889143347740173
            ],
            "speed_kmh": 28.872142069006934,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.70760726928711,
                "transform": {
                    "location": {
                        "x": -2498.905029296875,
                        "y": 5241.5615234375,
                        "z": 378.6869812011719
                    },
                    "rotation": {
                        "roll": 0.00035108497831970453,
                        "pitch": -0.10571765899658203,
                        "yaw": -90.04308319091797
                    }
                },
                "velocity": {
                    "x": -0.006441184785217047,
                    "y": -9.707589149475098,
                    "z": -0.017450647428631783
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.68743896484375,
                "transform": {
                    "location": {
                        "x": -2498.91943359375,
                        "y": 5218.4384765625,
                        "z": 378.6346130371094
                    },
                    "rotation": {
                        "roll": -0.00021361758990678936,
                        "pitch": -0.15365192294120789,
                        "yaw": -90.03282928466797
                    }
                },
                "velocity": {
                    "x": -0.005548723973333836,
                    "y": -9.68740463256836,
                    "z": -0.025075502693653107
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.10385799407959,
                "transform": {
                    "location": {
                        "x": -2498.934814453125,
                        "y": 5199.3125,
                        "z": 378.5890808105469
                    },
                    "rotation": {
                        "roll": 0.0033319820649921894,
                        "pitch": -0.1833495944738388,
                        "yaw": -90.01854705810547
                    }
                },
                "velocity": {
                    "x": -0.0024652406573295593,
                    "y": -8.103813171386719,
                    "z": -0.0266462080180645
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.977738380432129,
                "transform": {
                    "location": {
                        "x": -2498.94677734375,
                        "y": 5179.00830078125,
                        "z": 378.5087890625
                    },
                    "rotation": {
                        "roll": 0.002025265945121646,
                        "pitch": -0.26501816511154175,
                        "yaw": -90.016357421875
                    }
                },
                "velocity": {
                    "x": -0.002254887018352747,
                    "y": -7.977669715881348,
                    "z": -0.03301823139190674
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.746492862701416,
                "transform": {
                    "location": {
                        "x": -2502.41064453125,
                        "y": 5251.24169921875,
                        "z": 378.69775390625
                    },
                    "rotation": {
                        "roll": 0.0014957449166104198,
                        "pitch": 0.04079671949148178,
                        "yaw": -89.82450866699219
                    }
                },
                "velocity": {
                    "x": 0.015286480076611042,
                    "y": -7.746467113494873,
                    "z": -0.013006076216697693
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.71359920501709,
                "transform": {
                    "location": {
                        "x": -2502.41796875,
                        "y": 5233.2958984375,
                        "z": 378.68353271484375
                    },
                    "rotation": {
                        "roll": -0.002075203927233815,
                        "pitch": -0.2082524597644806,
                        "yaw": -89.95320129394531
                    }
                },
                "velocity": {
                    "x": 0.004155592527240515,
                    "y": -9.713581085205078,
                    "z": -0.018133243545889854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020039558410645,
                "transform": {
                    "location": {
                        "x": -2502.43603515625,
                        "y": 5198.341796875,
                        "z": 378.57415771484375
                    },
                    "rotation": {
                        "roll": -0.00021361811377573758,
                        "pitch": -0.1983896642923355,
                        "yaw": -90.0073471069336
                    }
                },
                "velocity": {
                    "x": -0.0011394912144169211,
                    "y": -8.019997596740723,
                    "z": -0.025889143347740173
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036884307861328,
                "transform": {
                    "location": {
                        "x": -2502.447265625,
                        "y": 5179.2705078125,
                        "z": 378.5177001953125
                    },
                    "rotation": {
                        "roll": 0.0003140447079204023,
                        "pitch": -0.24023139476776123,
                        "yaw": -90.04119110107422
                    }
                },
                "velocity": {
                    "x": -0.0054252431727945805,
                    "y": -8.036812782287598,
                    "z": -0.03351745381951332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.641223430633545,
                "transform": {
                    "location": {
                        "x": -2505.90771484375,
                        "y": 5239.6201171875,
                        "z": 378.6883544921875
                    },
                    "rotation": {
                        "roll": 0.008247297257184982,
                        "pitch": -0.7307413816452026,
                        "yaw": -89.89203643798828
                    }
                },
                "velocity": {
                    "x": -0.0005574568058364093,
                    "y": -3.641219139099121,
                    "z": -0.00550950039178133
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.526650428771973,
                "transform": {
                    "location": {
                        "x": -2505.91845703125,
                        "y": 5223.13916015625,
                        "z": 378.6578674316406
                    },
                    "rotation": {
                        "roll": 0.0005101399146951735,
                        "pitch": -0.044983621686697006,
                        "yaw": -90.02122497558594
                    }
                },
                "velocity": {
                    "x": -0.0022274458315223455,
                    "y": -5.526633262634277,
                    "z": -0.013682536780834198
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.802213668823242,
                "transform": {
                    "location": {
                        "x": -2505.93701171875,
                        "y": 5204.1953125,
                        "z": 378.6387939453125
                    },
                    "rotation": {
                        "roll": 0.002274259924888611,
                        "pitch": -0.19905902445316315,
                        "yaw": -89.94773864746094
                    }
                },
                "velocity": {
                    "x": 0.0037931788247078657,
                    "y": -7.802172660827637,
                    "z": -0.024982962757349014
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.745192050933838,
                "transform": {
                    "location": {
                        "x": -2505.943115234375,
                        "y": 5184.51416015625,
                        "z": 378.5272521972656
                    },
                    "rotation": {
                        "roll": 0.0005674359272234142,
                        "pitch": -0.1963815838098526,
                        "yaw": -90.01555633544922
                    }
                },
                "velocity": {
                    "x": -0.001768613583408296,
                    "y": -7.745135307312012,
                    "z": -0.029626745730638504
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.059611935168504715,
        "expert_target_speed": 7.883266532892892,
        "target_point": [
            27.99506204848886,
            -0.18890243321517575
        ],
        "target_point_next": [
            79.87397359530132,
            -0.1780293132467846
        ]
    },
    "100": {
        "acceleration": [
            0.06480216979980469,
            -7.813129425048828,
            -0.007062256336212158
        ],
        "angular_velocity": [
            -0.8306286931037903,
            -0.08261045813560486,
            0.2055034190416336
        ],
        "forward_vector": [
            0.00481635145843029,
            -0.9999390840530396,
            0.009931161999702454
        ],
        "right_vector": [
            0.9999883770942688,
            0.004817974753677845,
            0.00013954330643173307
        ],
        "location": [
            -2502.460205078125,
            5210.39599609375,
            378.61627197265625
        ],
        "rotation": [
            -0.007995637133717537,
            0.5690230131149292,
            -89.72402954101562
        ],
        "velocity": [
            0.047544077038764954,
            -9.295501708984375,
            -0.02600897289812565
        ],
        "speed": 9.2956232959922,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.055768966674805,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.436767578125,
                5196.34033203125,
                378.56732177734375
            ],
            "velocity": [
                -0.0007364547345787287,
                -8.030296325683594,
                -0.029053764417767525
            ],
            "speed_kmh": 28.909256104140116,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.161664009094238,
                "transform": {
                    "location": {
                        "x": -2498.90673828125,
                        "y": 5239.08447265625,
                        "z": 378.6825256347656
                    },
                    "rotation": {
                        "roll": -0.0002746619866229594,
                        "pitch": -0.09005603939294815,
                        "yaw": -90.04443359375
                    }
                },
                "velocity": {
                    "x": -0.00750827556475997,
                    "y": -10.161646842956543,
                    "z": -0.01724543608725071
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.303178787231445,
                "transform": {
                    "location": {
                        "x": -2498.920654296875,
                        "y": 5216.2158203125,
                        "z": 378.6291809082031
                    },
                    "rotation": {
                        "roll": 0.0023431999143213034,
                        "pitch": -0.22760237753391266,
                        "yaw": -90.03675842285156
                    }
                },
                "velocity": {
                    "x": -0.005170347634702921,
                    "y": -8.30314826965332,
                    "z": -0.021712960675358772
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.94797945022583,
                "transform": {
                    "location": {
                        "x": -2498.935791015625,
                        "y": 5197.31591796875,
                        "z": 378.5823059082031
                    },
                    "rotation": {
                        "roll": 0.001180043793283403,
                        "pitch": -0.21982279419898987,
                        "yaw": -90.00676727294922
                    }
                },
                "velocity": {
                    "x": -0.002795926760882139,
                    "y": -7.947932720184326,
                    "z": -0.02712012268602848
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.090677261352539,
                "transform": {
                    "location": {
                        "x": -2498.94775390625,
                        "y": 5176.99365234375,
                        "z": 378.5001525878906
                    },
                    "rotation": {
                        "roll": 0.0017879349179565907,
                        "pitch": -0.2184499353170395,
                        "yaw": -90.0235366821289
                    }
                },
                "velocity": {
                    "x": -0.0034338661935180426,
                    "y": -8.090608596801758,
                    "z": -0.03311188146471977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.154075622558594,
                "transform": {
                    "location": {
                        "x": -2502.407958984375,
                        "y": 5249.11474609375,
                        "z": 378.6944885253906
                    },
                    "rotation": {
                        "roll": 0.0012768530286848545,
                        "pitch": 0.013523774221539497,
                        "yaw": -89.93700408935547
                    }
                },
                "velocity": {
                    "x": 0.005021261982619762,
                    "y": -9.15406322479248,
                    "z": -0.014255046844482422
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.014506340026855,
                "transform": {
                    "location": {
                        "x": -2502.416748046875,
                        "y": 5230.78662109375,
                        "z": 378.6781921386719
                    },
                    "rotation": {
                        "roll": -0.0011596694821491838,
                        "pitch": -0.16421139240264893,
                        "yaw": -89.97408294677734
                    }
                },
                "velocity": {
                    "x": 0.0027788463048636913,
                    "y": -10.014482498168945,
                    "z": -0.02162189967930317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.030348777770996,
                "transform": {
                    "location": {
                        "x": -2502.436767578125,
                        "y": 5196.34033203125,
                        "z": 378.56732177734375
                    },
                    "rotation": {
                        "roll": -0.00036622441257350147,
                        "pitch": -0.1986697018146515,
                        "yaw": -90.01593017578125
                    }
                },
                "velocity": {
                    "x": -0.0007364547345787287,
                    "y": -8.030296325683594,
                    "z": -0.029053764417767525
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036957740783691,
                "transform": {
                    "location": {
                        "x": -2502.448486328125,
                        "y": 5177.26123046875,
                        "z": 378.50927734375
                    },
                    "rotation": {
                        "roll": 0.0005575457471422851,
                        "pitch": -0.2395961880683899,
                        "yaw": -90.01004791259766
                    }
                },
                "velocity": {
                    "x": -0.00255875987932086,
                    "y": -8.03688907623291,
                    "z": -0.03314846754074097
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.884355068206787,
                "transform": {
                    "location": {
                        "x": -2505.9072265625,
                        "y": 5238.54345703125,
                        "z": 378.6837158203125
                    },
                    "rotation": {
                        "roll": 0.0047981878742575645,
                        "pitch": 0.021679019555449486,
                        "yaw": -89.9522705078125
                    }
                },
                "velocity": {
                    "x": -0.0013694280060008168,
                    "y": -4.884350776672363,
                    "z": -0.0061620138585567474
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.110510349273682,
                "transform": {
                    "location": {
                        "x": -2505.91943359375,
                        "y": 5221.63916015625,
                        "z": 378.65423583984375
                    },
                    "rotation": {
                        "roll": -6.103836494730785e-05,
                        "pitch": 0.15261374413967133,
                        "yaw": -90.02928924560547
                    }
                },
                "velocity": {
                    "x": -0.003674066625535488,
                    "y": -7.110489368438721,
                    "z": -0.016826067119836807
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.091196060180664,
                "transform": {
                    "location": {
                        "x": -2505.935791015625,
                        "y": 5202.2236328125,
                        "z": 378.6320495605469
                    },
                    "rotation": {
                        "roll": 0.001768273301422596,
                        "pitch": -0.17464792728424072,
                        "yaw": -89.96939849853516
                    }
                },
                "velocity": {
                    "x": 0.004424914252012968,
                    "y": -8.091154098510742,
                    "z": -0.02566879242658615
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.731582641601562,
                "transform": {
                    "location": {
                        "x": -2505.94384765625,
                        "y": 5182.3818359375,
                        "z": 378.51910400390625
                    },
                    "rotation": {
                        "roll": 0.00036697121686302125,
                        "pitch": -0.1882604956626892,
                        "yaw": -90.02947998046875
                    }
                },
                "velocity": {
                    "x": -0.004914518911391497,
                    "y": -8.73151683807373,
                    "z": -0.03351503238081932
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05554523691534996,
        "expert_target_speed": 9.797175311513932,
        "target_point": [
            25.911901184750597,
            -0.20713222697398626
        ],
        "target_point_next": [
            77.79080880649953,
            -0.23005559431660194
        ]
    },
    "105": {
        "acceleration": [
            0.08328646421432495,
            -9.11590576171875,
            -0.02940703183412552
        ],
        "angular_velocity": [
            -0.8373515605926514,
            0.008860519155859947,
            0.18761876225471497
        ],
        "forward_vector": [
            0.005583173595368862,
            -0.9999558329582214,
            0.007560061290860176
        ],
        "right_vector": [
            0.9999843835830688,
            0.005584613420069218,
            0.00016937172040343285
        ],
        "location": [
            -2502.447021484375,
            5207.94775390625,
            378.60943603515625
        ],
        "rotation": [
            -0.009704561904072762,
            0.43316373229026794,
            -89.68009948730469
        ],
        "velocity": [
            0.060764215886592865,
            -10.471389770507812,
            -0.030810970813035965
        ],
        "speed": 10.471566072743274,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.627533912658691,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.4375,
                5194.3203125,
                378.56005859375
            ],
            "velocity": [
                -0.001969242701306939,
                -8.091361045837402,
                -0.029595039784908295
            ],
            "speed_kmh": 29.12909547181916,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.99555778503418,
                "transform": {
                    "location": {
                        "x": -2498.908935546875,
                        "y": 5236.52294921875,
                        "z": 378.6781311035156
                    },
                    "rotation": {
                        "roll": 6.65010666125454e-05,
                        "pitch": -0.10027400404214859,
                        "yaw": -90.04473876953125
                    }
                },
                "velocity": {
                    "x": -0.0069670407101511955,
                    "y": -9.995539665222168,
                    "z": -0.017788181081414223
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.529692649841309,
                "transform": {
                    "location": {
                        "x": -2498.922119140625,
                        "y": 5214.142578125,
                        "z": 378.6230773925781
                    },
                    "rotation": {
                        "roll": 0.0007327144267037511,
                        "pitch": -0.1697096973657608,
                        "yaw": -90.0413589477539
                    }
                },
                "velocity": {
                    "x": -0.006146211642771959,
                    "y": -8.529661178588867,
                    "z": -0.02245030738413334
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.098467826843262,
                "transform": {
                    "location": {
                        "x": -2498.936767578125,
                        "y": 5195.30810546875,
                        "z": 378.5753173828125
                    },
                    "rotation": {
                        "roll": 0.0011571565410122275,
                        "pitch": -0.1906169056892395,
                        "yaw": -90.03636932373047
                    }
                },
                "velocity": {
                    "x": -0.004273184575140476,
                    "y": -8.098414421081543,
                    "z": -0.029081400483846664
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.992786884307861,
                "transform": {
                    "location": {
                        "x": -2498.94873046875,
                        "y": 5174.984375,
                        "z": 378.4915466308594
                    },
                    "rotation": {
                        "roll": 0.0006170450360514224,
                        "pitch": -0.26956707239151,
                        "yaw": -90.02404022216797
                    }
                },
                "velocity": {
                    "x": -0.0034230013843625784,
                    "y": -7.99269962310791,
                    "z": -0.03723623603582382
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.664666175842285,
                "transform": {
                    "location": {
                        "x": -2502.40673828125,
                        "y": 5246.716796875,
                        "z": 378.6910095214844
                    },
                    "rotation": {
                        "roll": -0.0013122553937137127,
                        "pitch": -0.03808513283729553,
                        "yaw": -89.97521209716797
                    }
                },
                "velocity": {
                    "x": 0.004358028993010521,
                    "y": -9.664654731750488,
                    "z": -0.014291619881987572
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.24864387512207,
                "transform": {
                    "location": {
                        "x": -2502.41650390625,
                        "y": 5228.39404296875,
                        "z": 378.6722717285156
                    },
                    "rotation": {
                        "roll": -0.00015258544590324163,
                        "pitch": -0.06335683166980743,
                        "yaw": -89.99877166748047
                    }
                },
                "velocity": {
                    "x": 0.0001438370964024216,
                    "y": -9.24862003326416,
                    "z": -0.02119629830121994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.091415405273438,
                "transform": {
                    "location": {
                        "x": -2502.4375,
                        "y": 5194.3203125,
                        "z": 378.56005859375
                    },
                    "rotation": {
                        "roll": -0.00039672054117545485,
                        "pitch": -0.2085529863834381,
                        "yaw": -90.0145492553711
                    }
                },
                "velocity": {
                    "x": -0.001969242701306939,
                    "y": -8.091361045837402,
                    "z": -0.029595039784908295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03711986541748,
                "transform": {
                    "location": {
                        "x": -2502.44921875,
                        "y": 5175.251953125,
                        "z": 378.5006408691406
                    },
                    "rotation": {
                        "roll": -0.0004882830544374883,
                        "pitch": -0.24819539487361908,
                        "yaw": -90.0481185913086
                    }
                },
                "velocity": {
                    "x": -0.0043302904814481735,
                    "y": -8.037032127380371,
                    "z": -0.03741306811571121
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3470940589904785,
                "transform": {
                    "location": {
                        "x": -2505.907958984375,
                        "y": 5237.22216796875,
                        "z": 378.6814880371094
                    },
                    "rotation": {
                        "roll": 0.0035719044972211123,
                        "pitch": 0.13145381212234497,
                        "yaw": -89.99544525146484
                    }
                },
                "velocity": {
                    "x": -0.0024741608649492264,
                    "y": -5.347084045410156,
                    "z": -0.010143480263650417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.796516418457031,
                "transform": {
                    "location": {
                        "x": -2505.920166015625,
                        "y": 5219.6142578125,
                        "z": 378.649169921875
                    },
                    "rotation": {
                        "roll": -0.0003662044764496386,
                        "pitch": 0.2027541548013687,
                        "yaw": -90.02237701416016
                    }
                },
                "velocity": {
                    "x": -0.005280422978103161,
                    "y": -8.796489715576172,
                    "z": -0.02095760777592659
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.083110809326172,
                "transform": {
                    "location": {
                        "x": -2505.93505859375,
                        "y": 5200.185546875,
                        "z": 378.6253967285156
                    },
                    "rotation": {
                        "roll": 0.0037581713404506445,
                        "pitch": -0.18719498813152313,
                        "yaw": -89.984619140625
                    }
                },
                "velocity": {
                    "x": -0.00046475190902128816,
                    "y": -8.083069801330566,
                    "z": -0.025820454582571983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.16661548614502,
                "transform": {
                    "location": {
                        "x": -2505.94384765625,
                        "y": 5180.28271484375,
                        "z": 378.51116943359375
                    },
                    "rotation": {
                        "roll": -0.0011901980033144355,
                        "pitch": -0.24529939889907837,
                        "yaw": -90.19662475585938
                    }
                },
                "velocity": {
                    "x": -0.008198207244277,
                    "y": -8.166545867919922,
                    "z": -0.03255580738186836
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06765086948871613,
        "expert_target_speed": 10.694701008300715,
        "target_point": [
            23.463456612150022,
            -0.22658433693919955
        ],
        "target_point_next": [
            75.34233126946607,
            -0.28939991795902215
        ]
    },
    "110": {
        "acceleration": [
            0.02430930733680725,
            1.4360809326171875,
            0.017924010753631592
        ],
        "angular_velocity": [
            2.105438470840454,
            -0.0493881031870842,
            1.7814680337905884
        ],
        "forward_vector": [
            0.006563515402376652,
            -0.9999697804450989,
            0.00416563730686903
        ],
        "right_vector": [
            0.9999784827232361,
            0.006564542185515165,
            0.0002327584516024217
        ],
        "location": [
            -2502.43017578125,
            5205.21728515625,
            378.60174560546875
        ],
        "rotation": [
            -0.013336192816495895,
            0.2386741191148758,
            -89.62393188476562
        ],
        "velocity": [
            0.07231075316667557,
            -10.928027153015137,
            -0.03290307894349098
        ],
        "speed": 10.928266390514995,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.90634536743164,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.4384765625,
                5192.31103515625,
                378.5527648925781
            ],
            "velocity": [
                -0.0026903331745415926,
                -8.006427764892578,
                -0.02891334891319275
            ],
            "speed_kmh": 28.823329525092802,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.556134223937988,
                "transform": {
                    "location": {
                        "x": -2498.910888671875,
                        "y": 5234.109375,
                        "z": 378.6737365722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.12808653712272644,
                        "yaw": -90.0416259765625
                    }
                },
                "velocity": {
                    "x": -0.007082761265337467,
                    "y": -9.55611515045166,
                    "z": -0.017838286235928535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.635376930236816,
                "transform": {
                    "location": {
                        "x": -2498.924072265625,
                        "y": 5211.94189453125,
                        "z": 378.6168212890625
                    },
                    "rotation": {
                        "roll": 0.00025337832630611956,
                        "pitch": -0.16079629957675934,
                        "yaw": -90.04142761230469
                    }
                },
                "velocity": {
                    "x": -0.006253372877836227,
                    "y": -8.635337829589844,
                    "z": -0.025095228105783463
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030935287475586,
                "transform": {
                    "location": {
                        "x": -2498.937744140625,
                        "y": 5193.2890625,
                        "z": 378.56787109375
                    },
                    "rotation": {
                        "roll": 4.133494076086208e-05,
                        "pitch": -0.2155197709798813,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": -0.003039936302229762,
                    "y": -8.03088092803955,
                    "z": -0.02948598377406597
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042390823364258,
                "transform": {
                    "location": {
                        "x": -2498.94970703125,
                        "y": 5172.982421875,
                        "z": 378.482177734375
                    },
                    "rotation": {
                        "roll": -0.0007934593595564365,
                        "pitch": -0.2905562222003937,
                        "yaw": -90.024169921875
                    }
                },
                "velocity": {
                    "x": -0.0034286475274711847,
                    "y": -8.042296409606934,
                    "z": -0.038775619119405746
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.056473731994629,
                "transform": {
                    "location": {
                        "x": -2502.406494140625,
                        "y": 5244.35986328125,
                        "z": 378.68780517578125
                    },
                    "rotation": {
                        "roll": 0.00046874265535734594,
                        "pitch": -0.11467886716127396,
                        "yaw": -89.99893188476562
                    }
                },
                "velocity": {
                    "x": -0.0013552394229918718,
                    "y": -9.056464195251465,
                    "z": -0.013194379396736622
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.344941139221191,
                "transform": {
                    "location": {
                        "x": -2502.417236328125,
                        "y": 5226.09619140625,
                        "z": 378.6676025390625
                    },
                    "rotation": {
                        "roll": -0.0009460436995141208,
                        "pitch": -0.1322939246892929,
                        "yaw": -90.0174789428711
                    }
                },
                "velocity": {
                    "x": -0.0048304274678230286,
                    "y": -9.344915390014648,
                    "z": -0.021335510537028313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.00648021697998,
                "transform": {
                    "location": {
                        "x": -2502.4384765625,
                        "y": 5192.31103515625,
                        "z": 378.5527648925781
                    },
                    "rotation": {
                        "roll": 0.00024854319053702056,
                        "pitch": -0.21105965971946716,
                        "yaw": -90.01800537109375
                    }
                },
                "velocity": {
                    "x": -0.0026903331745415926,
                    "y": -8.006427764892578,
                    "z": -0.02891334891319275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038321495056152,
                "transform": {
                    "location": {
                        "x": -2502.450439453125,
                        "y": 5173.24267578125,
                        "z": 378.4912109375
                    },
                    "rotation": {
                        "roll": 0.0003561080084182322,
                        "pitch": -0.2840607166290283,
                        "yaw": -90.00662231445312
                    }
                },
                "velocity": {
                    "x": -0.0036302669905126095,
                    "y": -8.038232803344727,
                    "z": -0.037460632622241974
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.730587005615234,
                "transform": {
                    "location": {
                        "x": -2505.90869140625,
                        "y": 5235.73779296875,
                        "z": 378.67791748046875
                    },
                    "rotation": {
                        "roll": 0.0008368990384042263,
                        "pitch": 0.33366838097572327,
                        "yaw": -90.02151489257812
                    }
                },
                "velocity": {
                    "x": -0.002780226059257984,
                    "y": -6.730574131011963,
                    "z": -0.01300704013556242
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.4765625,
                "transform": {
                    "location": {
                        "x": -2505.92138671875,
                        "y": 5217.41748046875,
                        "z": 378.6434631347656
                    },
                    "rotation": {
                        "roll": -0.00021362387633416802,
                        "pitch": -0.11065588891506195,
                        "yaw": -90.04154968261719
                    }
                },
                "velocity": {
                    "x": -0.00438180286437273,
                    "y": -8.476531982421875,
                    "z": -0.022157415747642517
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.948263645172119,
                "transform": {
                    "location": {
                        "x": -2505.935302734375,
                        "y": 5198.1904296875,
                        "z": 378.6188659667969
                    },
                    "rotation": {
                        "roll": 0.00266609201207757,
                        "pitch": -0.20666785538196564,
                        "yaw": -90.00942993164062
                    }
                },
                "velocity": {
                    "x": -0.003989702556282282,
                    "y": -7.948222637176514,
                    "z": -0.025165023282170296
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.872432231903076,
                "transform": {
                    "location": {
                        "x": -2505.9453125,
                        "y": 5178.26318359375,
                        "z": 378.5028076171875
                    },
                    "rotation": {
                        "roll": 0.0008845312404446304,
                        "pitch": -0.250394731760025,
                        "yaw": -90.2802505493164
                    }
                },
                "velocity": {
                    "x": -0.00934870820492506,
                    "y": -7.872358322143555,
                    "z": -0.032823070883750916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.34700870513916016,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07429226487874985,
        "expert_target_speed": 10.889617404462758,
        "target_point": [
            20.732699999682698,
            -0.24874972930036904
        ],
        "target_point_next": [
            72.61148690949686,
            -0.3629875199984208
        ]
    },
    "115": {
        "acceleration": [
            0.03315061330795288,
            0.5551719665527344,
            -0.008507072925567627
        ],
        "angular_velocity": [
            0.7069333791732788,
            0.017293037846684456,
            -1.6259992122650146
        ],
        "forward_vector": [
            0.007093905005604029,
            -0.999972403049469,
            -0.0022231319453567266
        ],
        "right_vector": [
            0.9999748468399048,
            0.007093395106494427,
            0.0002370207803323865
        ],
        "location": [
            -2502.41162109375,
            5202.5341796875,
            378.5945739746094
        ],
        "rotation": [
            -0.01358032412827015,
            -0.12737618386745453,
            -89.59354400634766
        ],
        "velocity": [
            0.07914361357688904,
            -10.64022445678711,
            -0.03372569382190704
        ],
        "speed": 10.640518793854957,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.235482215881348,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.439208984375,
                5190.298828125,
                378.54534912109375
            ],
            "velocity": [
                -0.004470192361623049,
                -8.083902359008789,
                -0.029286926612257957
            ],
            "speed_kmh": 29.102243926105544,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.936386108398438,
                "transform": {
                    "location": {
                        "x": -2498.912841796875,
                        "y": 5231.6806640625,
                        "z": 378.6687316894531
                    },
                    "rotation": {
                        "roll": -3.0515791877405718e-05,
                        "pitch": -0.10778720676898956,
                        "yaw": -90.0360107421875
                    }
                },
                "velocity": {
                    "x": -0.0063628326170146465,
                    "y": -9.936365127563477,
                    "z": -0.019446397200226784
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.326207160949707,
                "transform": {
                    "location": {
                        "x": -2498.92626953125,
                        "y": 5209.8623046875,
                        "z": 378.6109313964844
                    },
                    "rotation": {
                        "roll": 0.00039928118349052966,
                        "pitch": -0.17862309515476227,
                        "yaw": -90.04155731201172
                    }
                },
                "velocity": {
                    "x": -0.006006287410855293,
                    "y": -8.326166152954102,
                    "z": -0.025487655773758888
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023748397827148,
                "transform": {
                    "location": {
                        "x": -2498.938720703125,
                        "y": 5191.28564453125,
                        "z": 378.5605773925781
                    },
                    "rotation": {
                        "roll": 0.0001475037424825132,
                        "pitch": -0.21307456493377686,
                        "yaw": -90.04113006591797
                    }
                },
                "velocity": {
                    "x": -0.0037148259580135345,
                    "y": -8.023696899414062,
                    "z": -0.028308505192399025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033160209655762,
                "transform": {
                    "location": {
                        "x": -2498.95068359375,
                        "y": 5170.970703125,
                        "z": 378.4720153808594
                    },
                    "rotation": {
                        "roll": 0.0002261327754240483,
                        "pitch": -0.2872640788555145,
                        "yaw": -90.03085327148438
                    }
                },
                "velocity": {
                    "x": -0.004453766159713268,
                    "y": -8.033053398132324,
                    "z": -0.04114985838532448
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.889874458312988,
                "transform": {
                    "location": {
                        "x": -2502.406494140625,
                        "y": 5242.150390625,
                        "z": 378.68414306640625
                    },
                    "rotation": {
                        "roll": 0.0007965254480950534,
                        "pitch": -0.10726811736822128,
                        "yaw": -90.01177215576172
                    }
                },
                "velocity": {
                    "x": -0.003934603650122881,
                    "y": -8.889861106872559,
                    "z": -0.014574375003576279
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.173323631286621,
                "transform": {
                    "location": {
                        "x": -2502.41796875,
                        "y": 5223.65576171875,
                        "z": 378.6625061035156
                    },
                    "rotation": {
                        "roll": 0.0006761260447092354,
                        "pitch": -0.1990043818950653,
                        "yaw": -90.01982879638672
                    }
                },
                "velocity": {
                    "x": -0.003451801370829344,
                    "y": -10.173299789428711,
                    "z": -0.02175734005868435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083956718444824,
                "transform": {
                    "location": {
                        "x": -2502.439208984375,
                        "y": 5190.298828125,
                        "z": 378.54534912109375
                    },
                    "rotation": {
                        "roll": 0.0004941715160384774,
                        "pitch": -0.20983706414699554,
                        "yaw": -90.02105712890625
                    }
                },
                "velocity": {
                    "x": -0.004470192361623049,
                    "y": -8.083902359008789,
                    "z": -0.029286926612257957
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037354469299316,
                "transform": {
                    "location": {
                        "x": -2502.451171875,
                        "y": 5171.2333984375,
                        "z": 378.4812927246094
                    },
                    "rotation": {
                        "roll": -0.0002746784593909979,
                        "pitch": -0.28906041383743286,
                        "yaw": -90.0503158569336
                    }
                },
                "velocity": {
                    "x": -0.006666420493274927,
                    "y": -8.037245750427246,
                    "z": -0.041164759546518326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.112015724182129,
                "transform": {
                    "location": {
                        "x": -2505.90966796875,
                        "y": 5233.8544921875,
                        "z": 378.6736145019531
                    },
                    "rotation": {
                        "roll": 0.0012589878169819713,
                        "pitch": 0.48592695593833923,
                        "yaw": -90.02960968017578
                    }
                },
                "velocity": {
                    "x": -0.00404484523460269,
                    "y": -8.1120023727417,
                    "z": -0.014357279986143112
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.503398895263672,
                "transform": {
                    "location": {
                        "x": -2505.92236328125,
                        "y": 5215.3271484375,
                        "z": 378.6378479003906
                    },
                    "rotation": {
                        "roll": 0.0008073057397268713,
                        "pitch": -0.14990215003490448,
                        "yaw": -90.02570343017578
                    }
                },
                "velocity": {
                    "x": -0.0053583187982439995,
                    "y": -8.503368377685547,
                    "z": -0.02217649482190609
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.071121215820312,
                "transform": {
                    "location": {
                        "x": -2505.93603515625,
                        "y": 5196.1875,
                        "z": 378.61175537109375
                    },
                    "rotation": {
                        "roll": -0.0007629577303305268,
                        "pitch": -0.1926249861717224,
                        "yaw": -90.01842498779297
                    }
                },
                "velocity": {
                    "x": -0.0026004761457443237,
                    "y": -8.071065902709961,
                    "z": -0.029679616913199425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.814376354217529,
                "transform": {
                    "location": {
                        "x": -2505.947998046875,
                        "y": 5176.494140625,
                        "z": 378.49560546875
                    },
                    "rotation": {
                        "roll": -0.0004577611689455807,
                        "pitch": -0.27081015706062317,
                        "yaw": -90.18850708007812
                    }
                },
                "velocity": {
                    "x": -0.00794158410280943,
                    "y": -6.814308166503906,
                    "z": -0.02933588996529579
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.34106922149658203,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09291330724954605,
        "expert_target_speed": 10.529480017538589,
        "target_point": [
            18.049399522669308,
            -0.25897632753920746
        ],
        "target_point_next": [
            69.92812070095566,
            -0.39993877768987096
        ]
    },
    "120": {
        "acceleration": [
            0.04569321870803833,
            -1.8315315246582031,
            -0.03661066293716431
        ],
        "angular_velocity": [
            -0.4788758456707001,
            -0.06826379895210266,
            1.76023530960083
        ],
        "forward_vector": [
            0.008215745911002159,
            -0.9999635815620422,
            -0.0023046708665788174
        ],
        "right_vector": [
            0.9999662041664124,
            0.008215141482651234,
            0.00027164164930582047
        ],
        "location": [
            -2502.390625,
            5199.8583984375,
            378.5858154296875
        ],
        "rotation": [
            -0.015563961118459702,
            -0.13204804062843323,
            -89.52926635742188
        ],
        "velocity": [
            0.08963882178068161,
            -10.862930297851562,
            -0.03694722056388855
        ],
        "speed": 10.863300132756697,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.572959899902344,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.440185546875,
                5188.28564453125,
                378.5378723144531
            ],
            "velocity": [
                -0.003273876616731286,
                -8.019707679748535,
                -0.029550326988101006
            ],
            "speed_kmh": 28.87114604418904,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.825047492980957,
                "transform": {
                    "location": {
                        "x": -2498.91455078125,
                        "y": 5229.17041015625,
                        "z": 378.66363525390625
                    },
                    "rotation": {
                        "roll": 9.466901974519715e-05,
                        "pitch": -0.11908434331417084,
                        "yaw": -90.03308868408203
                    }
                },
                "velocity": {
                    "x": -0.004839226603507996,
                    "y": -9.82502269744873,
                    "z": -0.021574130281805992
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.736456871032715,
                "transform": {
                    "location": {
                        "x": -2498.927978515625,
                        "y": 5207.69189453125,
                        "z": 378.6042175292969
                    },
                    "rotation": {
                        "roll": 0.001013106433674693,
                        "pitch": -0.1621077060699463,
                        "yaw": -90.04119110107422
                    }
                },
                "velocity": {
                    "x": -0.006285048555582762,
                    "y": -8.736416816711426,
                    "z": -0.025758422911167145
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.062752723693848,
                "transform": {
                    "location": {
                        "x": -2498.939697265625,
                        "y": 5189.27294921875,
                        "z": 378.55316162109375
                    },
                    "rotation": {
                        "roll": 0.00106480298563838,
                        "pitch": -0.21017174422740936,
                        "yaw": -90.02156829833984
                    }
                },
                "velocity": {
                    "x": -0.0048348503187298775,
                    "y": -8.06269645690918,
                    "z": -0.029770854860544205
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026355743408203,
                "transform": {
                    "location": {
                        "x": -2498.95166015625,
                        "y": 5168.96484375,
                        "z": 378.4617919921875
                    },
                    "rotation": {
                        "roll": 0.0008038792293518782,
                        "pitch": -0.3048108220100403,
                        "yaw": -90.03668212890625
                    }
                },
                "velocity": {
                    "x": -0.005090829450637102,
                    "y": -8.02623462677002,
                    "z": -0.04389610514044762
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.922842025756836,
                "transform": {
                    "location": {
                        "x": -2502.407470703125,
                        "y": 5239.802734375,
                        "z": 378.67974853515625
                    },
                    "rotation": {
                        "roll": 0.0010338485008105636,
                        "pitch": -0.052496831864118576,
                        "yaw": -90.01995849609375
                    }
                },
                "velocity": {
                    "x": -0.0033885438460856676,
                    "y": -9.92282485961914,
                    "z": -0.017944583669304848
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.360180854797363,
                "transform": {
                    "location": {
                        "x": -2502.4189453125,
                        "y": 5221.0654296875,
                        "z": 378.6559753417969
                    },
                    "rotation": {
                        "roll": 0.00048807397251948714,
                        "pitch": -0.17517384886741638,
                        "yaw": -90.02391815185547
                    }
                },
                "velocity": {
                    "x": -0.004332251846790314,
                    "y": -10.360148429870605,
                    "z": -0.02554057538509369
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01976203918457,
                "transform": {
                    "location": {
                        "x": -2502.440185546875,
                        "y": 5188.28564453125,
                        "z": 378.5378723144531
                    },
                    "rotation": {
                        "roll": -0.0008239708258770406,
                        "pitch": -0.21743905544281006,
                        "yaw": -90.02323150634766
                    }
                },
                "velocity": {
                    "x": -0.003273876616731286,
                    "y": -8.019707679748535,
                    "z": -0.029550326988101006
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038857460021973,
                "transform": {
                    "location": {
                        "x": -2502.45263671875,
                        "y": 5169.22412109375,
                        "z": 378.47100830078125
                    },
                    "rotation": {
                        "roll": -0.0007629498140886426,
                        "pitch": -0.2884252071380615,
                        "yaw": -90.02020263671875
                    }
                },
                "velocity": {
                    "x": -0.00554862292483449,
                    "y": -8.038742065429688,
                    "z": -0.04268578812479973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.371054649353027,
                "transform": {
                    "location": {
                        "x": -2505.91064453125,
                        "y": 5231.7021484375,
                        "z": 378.6694030761719
                    },
                    "rotation": {
                        "roll": 0.00048674768186174333,
                        "pitch": 0.4740424156188965,
                        "yaw": -90.03248596191406
                    }
                },
                "velocity": {
                    "x": -0.005361476913094521,
                    "y": -9.371034622192383,
                    "z": -0.018224209547042847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.596176147460938,
                "transform": {
                    "location": {
                        "x": -2505.923583984375,
                        "y": 5213.142578125,
                        "z": 378.6318664550781
                    },
                    "rotation": {
                        "roll": 0.0004901477950625122,
                        "pitch": -0.15023000538349152,
                        "yaw": -90.05008697509766
                    }
                },
                "velocity": {
                    "x": -0.005489409435540438,
                    "y": -8.596136093139648,
                    "z": -0.02560974471271038
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.040121078491211,
                "transform": {
                    "location": {
                        "x": -2505.93701171875,
                        "y": 5194.16943359375,
                        "z": 378.6046142578125
                    },
                    "rotation": {
                        "roll": 6.744191341567785e-05,
                        "pitch": -0.2129243016242981,
                        "yaw": -90.02269744873047
                    }
                },
                "velocity": {
                    "x": -0.003166759153828025,
                    "y": -8.040066719055176,
                    "z": -0.029519319534301758
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.34225606918335,
                "transform": {
                    "location": {
                        "x": -2505.951171875,
                        "y": 5174.7412109375,
                        "z": 378.48724365234375
                    },
                    "rotation": {
                        "roll": 0.0007415763684548438,
                        "pitch": -0.25396689772605896,
                        "yaw": -90.04454803466797
                    }
                },
                "velocity": {
                    "x": -0.00507224490866065,
                    "y": -7.342177391052246,
                    "z": -0.033531203866004944
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10715675354003906,
        "expert_target_speed": 10.477728115169725,
        "target_point": [
            15.373233965795269,
            -0.2782745480468519
        ],
        "target_point_next": [
            67.25176420528138,
            -0.4774772022835436
        ]
    },
    "125": {
        "acceleration": [
            -0.31111374497413635,
            -0.9811782836914062,
            -0.006547197699546814
        ],
        "angular_velocity": [
            0.04594894126057625,
            0.3341999053955078,
            -2.0612268447875977
        ],
        "forward_vector": [
            0.008365483023226261,
            -0.9999642372131348,
            -0.0012655253522098064
        ],
        "right_vector": [
            0.9999650120735168,
            0.008365429937839508,
            4.6871598897268996e-05
        ],
        "location": [
            -2502.367431640625,
            5197.09423828125,
            378.5760803222656
        ],
        "rotation": [
            -0.002685546875,
            -0.0725092813372612,
            -89.52069091796875
        ],
        "velocity": [
            0.08378585427999496,
            -11.193228721618652,
            -0.03777194023132324
        ],
        "speed": 11.193542302767527,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.821148872375488,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.441162109375,
                5186.2734375,
                378.5302734375
            ],
            "velocity": [
                -0.0038095726631581783,
                -8.075925827026367,
                -0.030167192220687866
            ],
            "speed_kmh": 29.073539049556143,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.621768951416016,
                "transform": {
                    "location": {
                        "x": -2498.91552734375,
                        "y": 5226.8505859375,
                        "z": 378.658935546875
                    },
                    "rotation": {
                        "roll": -0.0001220701087731868,
                        "pitch": -0.16330298781394958,
                        "yaw": -90.02837371826172
                    }
                },
                "velocity": {
                    "x": -0.004945960361510515,
                    "y": -8.621742248535156,
                    "z": -0.020646309480071068
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.840406894683838,
                "transform": {
                    "location": {
                        "x": -2498.929443359375,
                        "y": 5205.64404296875,
                        "z": 378.5983581542969
                    },
                    "rotation": {
                        "roll": 7.962829840835184e-05,
                        "pitch": -0.21737758815288544,
                        "yaw": -90.04010009765625
                    }
                },
                "velocity": {
                    "x": -0.004078889265656471,
                    "y": -7.840365409851074,
                    "z": -0.02519857883453369
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.028250694274902,
                "transform": {
                    "location": {
                        "x": -2498.940673828125,
                        "y": 5187.26171875,
                        "z": 378.5456237792969
                    },
                    "rotation": {
                        "roll": -0.0002746570098679513,
                        "pitch": -0.2216191291809082,
                        "yaw": -90.04692840576172
                    }
                },
                "velocity": {
                    "x": -0.00462476396933198,
                    "y": -8.028194427490234,
                    "z": -0.02962615340948105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029510498046875,
                "transform": {
                    "location": {
                        "x": -2498.95263671875,
                        "y": 5166.9580078125,
                        "z": 378.4508056640625
                    },
                    "rotation": {
                        "roll": 0.0021249717101454735,
                        "pitch": -0.33282142877578735,
                        "yaw": -90.03863525390625
                    }
                },
                "velocity": {
                    "x": -0.0064761159010231495,
                    "y": -8.029383659362793,
                    "z": -0.044738415628671646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.155058860778809,
                "transform": {
                    "location": {
                        "x": -2502.408447265625,
                        "y": 5237.25439453125,
                        "z": 378.6754150390625
                    },
                    "rotation": {
                        "roll": 0.0005155295948497951,
                        "pitch": -0.07440124452114105,
                        "yaw": -90.02581024169922
                    }
                },
                "velocity": {
                    "x": -0.0048041269183158875,
                    "y": -10.155041694641113,
                    "z": -0.018264608457684517
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.549224853515625,
                "transform": {
                    "location": {
                        "x": -2502.420654296875,
                        "y": 5218.46435546875,
                        "z": 378.6492004394531
                    },
                    "rotation": {
                        "roll": 0.00024645475787110627,
                        "pitch": -0.16348056495189667,
                        "yaw": -90.03277587890625
                    }
                },
                "velocity": {
                    "x": -0.006021570414304733,
                    "y": -10.54919147491455,
                    "z": -0.025707993656396866
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075983047485352,
                "transform": {
                    "location": {
                        "x": -2502.441162109375,
                        "y": 5186.2734375,
                        "z": 378.5302734375
                    },
                    "rotation": {
                        "roll": 5.939104812568985e-05,
                        "pitch": -0.21631208062171936,
                        "yaw": -90.02617645263672
                    }
                },
                "velocity": {
                    "x": -0.0038095726631581783,
                    "y": -8.075925827026367,
                    "z": -0.030167192220687866
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037832260131836,
                "transform": {
                    "location": {
                        "x": -2502.453369140625,
                        "y": 5167.21435546875,
                        "z": 378.4599609375
                    },
                    "rotation": {
                        "roll": 9.437016706215218e-05,
                        "pitch": -0.3234845697879791,
                        "yaw": -90.05426025390625
                    }
                },
                "velocity": {
                    "x": -0.0047935135662555695,
                    "y": -8.037705421447754,
                    "z": -0.04493553563952446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.346522331237793,
                "transform": {
                    "location": {
                        "x": -2505.911865234375,
                        "y": 5229.31640625,
                        "z": 378.6656494140625
                    },
                    "rotation": {
                        "roll": 0.0011854495387524366,
                        "pitch": 0.16512665152549744,
                        "yaw": -90.03588104248047
                    }
                },
                "velocity": {
                    "x": -0.005924999713897705,
                    "y": -9.346502304077148,
                    "z": -0.018398365005850792
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.955367565155029,
                "transform": {
                    "location": {
                        "x": -2505.9248046875,
                        "y": 5211.10546875,
                        "z": 378.6259765625
                    },
                    "rotation": {
                        "roll": 0.0015125155914574862,
                        "pitch": -0.25982722640037537,
                        "yaw": -90.02918243408203
                    }
                },
                "velocity": {
                    "x": -0.006144044920802116,
                    "y": -7.955333232879639,
                    "z": -0.022631721571087837
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.987430572509766,
                "transform": {
                    "location": {
                        "x": -2505.93798828125,
                        "y": 5192.1708984375,
                        "z": 378.5973205566406
                    },
                    "rotation": {
                        "roll": 0.00014761713100597262,
                        "pitch": -0.21213200688362122,
                        "yaw": -90.0230941772461
                    }
                },
                "velocity": {
                    "x": -0.003189658047631383,
                    "y": -7.987375259399414,
                    "z": -0.029553517699241638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.145456314086914,
                "transform": {
                    "location": {
                        "x": -2505.952392578125,
                        "y": 5172.81396484375,
                        "z": 378.478271484375
                    },
                    "rotation": {
                        "roll": 0.00019488934776745737,
                        "pitch": -0.2714863419532776,
                        "yaw": -90.04291534423828
                    }
                },
                "velocity": {
                    "x": -0.0038505946286022663,
                    "y": -8.145357131958008,
                    "z": -0.04015360400080681
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.11895358562469482,
        "expert_target_speed": 10.406018772729647,
        "target_point": [
            12.608934277433544,
            -0.28068768581321885
        ],
        "target_point_next": [
            64.48743381946434,
            -0.48773061430970877
        ]
    },
    "130": {
        "acceleration": [
            -0.29115939140319824,
            2.4843788146972656,
            -0.015086755156517029
        ],
        "angular_velocity": [
            0.9826462268829346,
            0.14110992848873138,
            0.10110215842723846
        ],
        "forward_vector": [
            0.0028739487752318382,
            -0.999988853931427,
            -0.0037426857743412256
        ],
        "right_vector": [
            0.9999953508377075,
            0.0028778400737792253,
            -0.0010347565403208137
        ],
        "location": [
            -2502.35498046875,
            5194.310546875,
            378.56683349609375
        ],
        "rotation": [
            0.05928761884570122,
            -0.21444061398506165,
            -89.83533477783203
        ],
        "velocity": [
            0.01418390590697527,
            -10.934646606445312,
            -0.039778538048267365
        ],
        "speed": 10.934655805787065,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.04979133605957,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.442138671875,
                5184.26123046875,
                378.5226745605469
            ],
            "velocity": [
                -0.004302123561501503,
                -8.0249605178833,
                -0.02982197143137455
            ],
            "speed_kmh": 28.890061496420458,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.033170700073242,
                "transform": {
                    "location": {
                        "x": -2498.915771484375,
                        "y": 5224.98193359375,
                        "z": 378.6547546386719
                    },
                    "rotation": {
                        "roll": -0.0003356881206855178,
                        "pitch": -0.1818537712097168,
                        "yaw": -90.0927963256836
                    }
                },
                "velocity": {
                    "x": -0.005303135607391596,
                    "y": -7.033148765563965,
                    "z": -0.016842564567923546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.485111236572266,
                "transform": {
                    "location": {
                        "x": -2498.9306640625,
                        "y": 5203.6240234375,
                        "z": 378.5915222167969
                    },
                    "rotation": {
                        "roll": 0.00010982372623402625,
                        "pitch": -0.15999716520309448,
                        "yaw": -90.03439331054688
                    }
                },
                "velocity": {
                    "x": -0.005087101832032204,
                    "y": -8.485068321228027,
                    "z": -0.026529917493462563
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043174743652344,
                "transform": {
                    "location": {
                        "x": -2498.941650390625,
                        "y": 5185.25341796875,
                        "z": 378.53802490234375
                    },
                    "rotation": {
                        "roll": 0.0015847617760300636,
                        "pitch": -0.21567003428936005,
                        "yaw": -90.02316284179688
                    }
                },
                "velocity": {
                    "x": -0.00500997481867671,
                    "y": -8.043120384216309,
                    "z": -0.029193328693509102
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037750244140625,
                "transform": {
                    "location": {
                        "x": -2498.953857421875,
                        "y": 5164.94873046875,
                        "z": 378.4391784667969
                    },
                    "rotation": {
                        "roll": -0.00015257473569363356,
                        "pitch": -0.34268423914909363,
                        "yaw": -90.0404281616211
                    }
                },
                "velocity": {
                    "x": -0.005733693018555641,
                    "y": -8.037610054016113,
                    "z": -0.0472354032099247
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.218462944030762,
                "transform": {
                    "location": {
                        "x": -2502.40966796875,
                        "y": 5234.73291015625,
                        "z": 378.6709289550781
                    },
                    "rotation": {
                        "roll": 2.0307168597355485e-05,
                        "pitch": -0.10045841336250305,
                        "yaw": -90.03170013427734
                    }
                },
                "velocity": {
                    "x": -0.005671945866197348,
                    "y": -10.218443870544434,
                    "z": -0.01870720274746418
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.809728622436523,
                "transform": {
                    "location": {
                        "x": -2502.422607421875,
                        "y": 5215.78125,
                        "z": 378.642333984375
                    },
                    "rotation": {
                        "roll": 0.00011249857197981328,
                        "pitch": -0.18139615654945374,
                        "yaw": -90.03746795654297
                    }
                },
                "velocity": {
                    "x": -0.007050983142107725,
                    "y": -10.809685707092285,
                    "z": -0.029520783573389053
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025016784667969,
                "transform": {
                    "location": {
                        "x": -2502.442138671875,
                        "y": 5184.26123046875,
                        "z": 378.5226745605469
                    },
                    "rotation": {
                        "roll": 2.9762228223262355e-05,
                        "pitch": -0.21758931875228882,
                        "yaw": -90.03075408935547
                    }
                },
                "velocity": {
                    "x": -0.004302123561501503,
                    "y": -8.0249605178833,
                    "z": -0.02982197143137455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037707328796387,
                "transform": {
                    "location": {
                        "x": -2502.45458984375,
                        "y": 5165.20556640625,
                        "z": 378.4485168457031
                    },
                    "rotation": {
                        "roll": -0.00018312426982447505,
                        "pitch": -0.3375820815563202,
                        "yaw": -90.01677703857422
                    }
                },
                "velocity": {
                    "x": -0.005039294250309467,
                    "y": -8.03757381439209,
                    "z": -0.04616810381412506
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.880510330200195,
                "transform": {
                    "location": {
                        "x": -2505.9130859375,
                        "y": 5227.15625,
                        "z": 378.6633605957031
                    },
                    "rotation": {
                        "roll": 0.00029808288672938943,
                        "pitch": -0.4495835304260254,
                        "yaw": -90.0379638671875
                    }
                },
                "velocity": {
                    "x": -0.00517235929146409,
                    "y": -7.880489349365234,
                    "z": -0.01751101389527321
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.70008659362793,
                "transform": {
                    "location": {
                        "x": -2505.92626953125,
                        "y": 5209.03955078125,
                        "z": 378.6199645996094
                    },
                    "rotation": {
                        "roll": 0.000878297199960798,
                        "pitch": -0.08050743490457535,
                        "yaw": -90.04790496826172
                    }
                },
                "velocity": {
                    "x": -0.005517411511391401,
                    "y": -8.700045585632324,
                    "z": -0.025986485183238983
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.074440956115723,
                "transform": {
                    "location": {
                        "x": -2505.93896484375,
                        "y": 5190.16015625,
                        "z": 378.58984375
                    },
                    "rotation": {
                        "roll": -0.00030517939012497663,
                        "pitch": -0.20804071426391602,
                        "yaw": -90.0228271484375
                    }
                },
                "velocity": {
                    "x": -0.003245056141167879,
                    "y": -8.074386596679688,
                    "z": -0.029570601880550385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.54861068725586,
                "transform": {
                    "location": {
                        "x": -2505.953125,
                        "y": 5170.654296875,
                        "z": 378.4674987792969
                    },
                    "rotation": {
                        "roll": -0.0005798388738185167,
                        "pitch": -0.27163660526275635,
                        "yaw": -90.06271362304688
                    }
                },
                "velocity": {
                    "x": -0.004651122726500034,
                    "y": -8.548493385314941,
                    "z": -0.044658102095127106
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.11223598569631577,
        "expert_target_speed": 9.845485710020673,
        "target_point": [
            9.826569570994884,
            -0.21592762999468912
        ],
        "target_point_next": [
            61.70542395956235,
            -0.1381533634091739
        ]
    },
    "135": {
        "acceleration": [
            -0.21839551627635956,
            8.891315460205078,
            0.04645355045795441
        ],
        "angular_velocity": [
            2.4852230548858643,
            -0.0008349472191184759,
            -2.0997800827026367
        ],
        "forward_vector": [
            -0.0035083331167697906,
            -0.9999505281448364,
            -0.009312493726611137
        ],
        "right_vector": [
            0.9999929070472717,
            -0.003495100187137723,
            -0.0014368727570399642
        ],
        "location": [
            -2502.3583984375,
            5191.68798828125,
            378.558349609375
        ],
        "rotation": [
            0.08233033865690231,
            -0.5335743427276611,
            -90.20101928710938
        ],
        "velocity": [
            -0.04716721922159195,
            -9.673404693603516,
            -0.03616047278046608
        ],
        "speed": 9.673519685864067,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.439931869506836,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.443115234375,
                5182.24853515625,
                378.51507568359375
            ],
            "velocity": [
                -0.004433229099959135,
                -8.074090003967285,
                -0.030448531731963158
            ],
            "speed_kmh": 29.066935081250833,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.42905330657959,
                "transform": {
                    "location": {
                        "x": -2498.9169921875,
                        "y": 5223.19287109375,
                        "z": 378.6500549316406
                    },
                    "rotation": {
                        "roll": 0.0001123982438002713,
                        "pitch": -0.12969845533370972,
                        "yaw": -90.11691284179688
                    }
                },
                "velocity": {
                    "x": -0.006433852948248386,
                    "y": -7.429030418395996,
                    "z": -0.01717609353363514
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.576787948608398,
                "transform": {
                    "location": {
                        "x": -2498.931884765625,
                        "y": 5201.4384765625,
                        "z": 378.5845642089844
                    },
                    "rotation": {
                        "roll": -0.00024415377993136644,
                        "pitch": -0.18048091232776642,
                        "yaw": -90.03790283203125
                    }
                },
                "velocity": {
                    "x": -0.005844887811690569,
                    "y": -8.576737403869629,
                    "z": -0.02895279787480831
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045073509216309,
                "transform": {
                    "location": {
                        "x": -2498.942626953125,
                        "y": 5183.24169921875,
                        "z": 378.53045654296875
                    },
                    "rotation": {
                        "roll": 0.0002748703700490296,
                        "pitch": -0.21652381122112274,
                        "yaw": -90.0472412109375
                    }
                },
                "velocity": {
                    "x": -0.004769552499055862,
                    "y": -8.04502010345459,
                    "z": -0.028964156284928322
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020800590515137,
                "transform": {
                    "location": {
                        "x": -2498.955322265625,
                        "y": 5162.9423828125,
                        "z": 378.4273376464844
                    },
                    "rotation": {
                        "roll": 0.00019662492559291422,
                        "pitch": -0.34335359930992126,
                        "yaw": -90.04363250732422
                    }
                },
                "velocity": {
                    "x": -0.006213834043592215,
                    "y": -8.020647048950195,
                    "z": -0.04916302487254143
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.393877029418945,
                "transform": {
                    "location": {
                        "x": -2502.411376953125,
                        "y": 5232.1240234375,
                        "z": 378.6658020019531
                    },
                    "rotation": {
                        "roll": 0.0006928517250344157,
                        "pitch": -0.1035456657409668,
                        "yaw": -90.03282928466797
                    }
                },
                "velocity": {
                    "x": -0.005867043510079384,
                    "y": -10.393853187561035,
                    "z": -0.02146241068840027
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.285004615783691,
                "transform": {
                    "location": {
                        "x": -2502.424560546875,
                        "y": 5213.1328125,
                        "z": 378.6344909667969
                    },
                    "rotation": {
                        "roll": -0.0016479536425322294,
                        "pitch": -0.12420698255300522,
                        "yaw": -90.03802490234375
                    }
                },
                "velocity": {
                    "x": -0.006830323953181505,
                    "y": -10.28495979309082,
                    "z": -0.029535869136452675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074149131774902,
                "transform": {
                    "location": {
                        "x": -2502.443115234375,
                        "y": 5182.24853515625,
                        "z": 378.51507568359375
                    },
                    "rotation": {
                        "roll": -0.0005188045906834304,
                        "pitch": -0.21658529341220856,
                        "yaw": -90.0313949584961
                    }
                },
                "velocity": {
                    "x": -0.004433229099959135,
                    "y": -8.074090003967285,
                    "z": -0.030448531731963158
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038871765136719,
                "transform": {
                    "location": {
                        "x": -2502.455810546875,
                        "y": 5163.19580078125,
                        "z": 378.4367370605469
                    },
                    "rotation": {
                        "roll": -0.0003662483941297978,
                        "pitch": -0.33343616127967834,
                        "yaw": -90.0596694946289
                    }
                },
                "velocity": {
                    "x": -0.005623153876513243,
                    "y": -8.03873062133789,
                    "z": -0.047397512942552567
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.538365840911865,
                "transform": {
                    "location": {
                        "x": -2505.9140625,
                        "y": 5225.26708984375,
                        "z": 378.6588134765625
                    },
                    "rotation": {
                        "roll": 0.00015433684166055173,
                        "pitch": -0.4081106185913086,
                        "yaw": -90.038330078125
                    }
                },
                "velocity": {
                    "x": -0.005080278031527996,
                    "y": -7.538343906402588,
                    "z": -0.017324579879641533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.529019355773926,
                "transform": {
                    "location": {
                        "x": -2505.927490234375,
                        "y": 5206.83935546875,
                        "z": 378.61334228515625
                    },
                    "rotation": {
                        "roll": -0.0008850210579112172,
                        "pitch": -0.18573331832885742,
                        "yaw": -90.02386474609375
                    }
                },
                "velocity": {
                    "x": -0.003950032871216536,
                    "y": -8.528980255126953,
                    "z": -0.02527676522731781
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.995720863342285,
                "transform": {
                    "location": {
                        "x": -2505.93994140625,
                        "y": 5188.15185546875,
                        "z": 378.58245849609375
                    },
                    "rotation": {
                        "roll": 1.2193044312880374e-05,
                        "pitch": -0.2198774367570877,
                        "yaw": -90.028564453125
                    }
                },
                "velocity": {
                    "x": -0.005377481691539288,
                    "y": -7.995664596557617,
                    "z": -0.02946726232767105
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.145033836364746,
                "transform": {
                    "location": {
                        "x": -2505.9541015625,
                        "y": 5168.57666015625,
                        "z": 378.456787109375
                    },
                    "rotation": {
                        "roll": 0.00018625885422807187,
                        "pitch": -0.314789742231369,
                        "yaw": -90.06724548339844
                    }
                },
                "velocity": {
                    "x": -0.005238552577793598,
                    "y": -8.144909858703613,
                    "z": -0.044615738093853
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.11336281150579453,
        "expert_target_speed": 8.76429445861969,
        "target_point": [
            59.08249291239449,
            0.2502545428224357
        ],
        "target_point_next": [
            69.28115338227502,
            0.5654606465253732
        ]
    },
    "140": {
        "acceleration": [
            -0.19308120012283325,
            -0.02857208251953125,
            0.0023683905601501465
        ],
        "angular_velocity": [
            -1.277327060699463,
            0.07798042893409729,
            1.2298766374588013
        ],
        "forward_vector": [
            -0.008449817076325417,
            -0.9999033212661743,
            -0.011045468971133232
        ],
        "right_vector": [
            0.9999634623527527,
            -0.008434964343905449,
            -0.0013905600644648075
        ],
        "location": [
            -2502.375,
            5189.42431640625,
            378.55035400390625
        ],
        "rotation": [
            0.07967810332775116,
            -0.6328716278076172,
            -90.48417663574219
        ],
        "velocity": [
            -0.09315922856330872,
            -8.857328414916992,
            -0.03308349847793579
        ],
        "speed": 8.857818314436262,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.187373161315918,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.444091796875,
                5180.2373046875,
                378.5071105957031
            ],
            "velocity": [
                -0.004316774662584066,
                -8.02320384979248,
                -0.03273683413863182
            ],
            "speed_kmh": 28.883778474055365,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.119542121887207,
                "transform": {
                    "location": {
                        "x": -2498.91943359375,
                        "y": 5221.24755859375,
                        "z": 378.6452331542969
                    },
                    "rotation": {
                        "roll": 0.0010282060829922557,
                        "pitch": -0.12655657529830933,
                        "yaw": -90.06377410888672
                    }
                },
                "velocity": {
                    "x": -0.007426463067531586,
                    "y": -8.119519233703613,
                    "z": -0.018080219626426697
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.961707592010498,
                "transform": {
                    "location": {
                        "x": -2498.932861328125,
                        "y": 5199.35693359375,
                        "z": 378.577880859375
                    },
                    "rotation": {
                        "roll": -0.0007934686727821827,
                        "pitch": -0.22668713331222534,
                        "yaw": -90.03512573242188
                    }
                },
                "velocity": {
                    "x": -0.004788835532963276,
                    "y": -7.961658000946045,
                    "z": -0.027785276994109154
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03641128540039,
                "transform": {
                    "location": {
                        "x": -2498.943603515625,
                        "y": 5181.232421875,
                        "z": 378.52264404296875
                    },
                    "rotation": {
                        "roll": -3.0509310818160884e-05,
                        "pitch": -0.22985634207725525,
                        "yaw": -90.02340698242188
                    }
                },
                "velocity": {
                    "x": -0.0051912907510995865,
                    "y": -8.036343574523926,
                    "z": -0.032591890543699265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042155265808105,
                "transform": {
                    "location": {
                        "x": -2498.95703125,
                        "y": 5160.9345703125,
                        "z": 378.4147033691406
                    },
                    "rotation": {
                        "roll": 0.0015070756198838353,
                        "pitch": -0.3723682463169098,
                        "yaw": -90.04783630371094
                    }
                },
                "velocity": {
                    "x": -0.006627302151173353,
                    "y": -8.0419921875,
                    "z": -0.05074450373649597
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.269790649414062,
                "transform": {
                    "location": {
                        "x": -2502.412841796875,
                        "y": 5229.658203125,
                        "z": 378.6612854003906
                    },
                    "rotation": {
                        "roll": 9.223463712260127e-05,
                        "pitch": -0.1717860847711563,
                        "yaw": -90.036376953125
                    }
                },
                "velocity": {
                    "x": -0.0059209177270531654,
                    "y": -9.269766807556152,
                    "z": -0.020322855561971664
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.056483268737793,
                "transform": {
                    "location": {
                        "x": -2502.425537109375,
                        "y": 5210.73193359375,
                        "z": 378.6270751953125
                    },
                    "rotation": {
                        "roll": -0.00024414100334979594,
                        "pitch": -0.055392831563949585,
                        "yaw": -90.03447723388672
                    }
                },
                "velocity": {
                    "x": -0.005432767793536186,
                    "y": -9.056445121765137,
                    "z": -0.02562897652387619
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023271560668945,
                "transform": {
                    "location": {
                        "x": -2502.444091796875,
                        "y": 5180.2373046875,
                        "z": 378.5071105957031
                    },
                    "rotation": {
                        "roll": 0.00010831009421963245,
                        "pitch": -0.23501314222812653,
                        "yaw": -90.03108978271484
                    }
                },
                "velocity": {
                    "x": -0.004316774662584066,
                    "y": -8.02320384979248,
                    "z": -0.03273683413863182
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038545608520508,
                "transform": {
                    "location": {
                        "x": -2502.457763671875,
                        "y": 5161.18603515625,
                        "z": 378.4241638183594
                    },
                    "rotation": {
                        "roll": -0.0012512302491813898,
                        "pitch": -0.3622800409793854,
                        "yaw": -90.02281951904297
                    }
                },
                "velocity": {
                    "x": -0.005990943405777216,
                    "y": -8.038373947143555,
                    "z": -0.05219651013612747
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.392605781555176,
                "transform": {
                    "location": {
                        "x": -2505.915771484375,
                        "y": 5223.27001953125,
                        "z": 378.6525573730469
                    },
                    "rotation": {
                        "roll": 0.001300798961892724,
                        "pitch": 0.004344000015407801,
                        "yaw": -90.04650115966797
                    }
                },
                "velocity": {
                    "x": -0.006886777002364397,
                    "y": -8.39258098602295,
                    "z": -0.019185399636626244
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.549226760864258,
                "transform": {
                    "location": {
                        "x": -2505.928466796875,
                        "y": 5204.73095703125,
                        "z": 378.60675048828125
                    },
                    "rotation": {
                        "roll": -0.0004882875364273787,
                        "pitch": -0.17907388508319855,
                        "yaw": -90.0434799194336
                    }
                },
                "velocity": {
                    "x": -0.004649213049560785,
                    "y": -8.549186706542969,
                    "z": -0.025577735155820847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050554275512695,
                "transform": {
                    "location": {
                        "x": -2505.94091796875,
                        "y": 5186.14697265625,
                        "z": 378.5748291015625
                    },
                    "rotation": {
                        "roll": 0.00011592060036491603,
                        "pitch": -0.21618230640888214,
                        "yaw": -90.030517578125
                    }
                },
                "velocity": {
                    "x": -0.0042865280993282795,
                    "y": -8.050498008728027,
                    "z": -0.029687652364373207
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.4115142822265625,
                "transform": {
                    "location": {
                        "x": -2505.955322265625,
                        "y": 5166.5830078125,
                        "z": 378.446044921875
                    },
                    "rotation": {
                        "roll": 0.0006943181506358087,
                        "pitch": -0.3568773567676544,
                        "yaw": -90.03617858886719
                    }
                },
                "velocity": {
                    "x": -0.00501279579475522,
                    "y": -7.411387920379639,
                    "z": -0.042972177267074585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.09597998112440109,
        "expert_target_speed": 8.1026331141143,
        "target_point": [
            56.8168103313681,
            0.5389453081673554
        ],
        "target_point_next": [
            67.0137932444551,
            0.9044172467991161
        ]
    },
    "145": {
        "acceleration": [
            -0.07622420787811279,
            -1.0963821411132812,
            0.0026069581508636475
        ],
        "angular_velocity": [
            -0.930159866809845,
            -0.10303305089473724,
            -2.8879106044769287
        ],
        "forward_vector": [
            -0.013068354688584805,
            -0.9999060034751892,
            -0.004142272286117077
        ],
        "right_vector": [
            0.9999140501022339,
            -0.013064024038612843,
            -0.0010707798646762967
        ],
        "location": [
            -2502.402587890625,
            5187.14501953125,
            378.54022216796875
        ],
        "rotation": [
            0.0613517090678215,
            -0.23733539879322052,
            -90.74878692626953
        ],
        "velocity": [
            -0.12984991073608398,
            -9.347918510437012,
            -0.03336872532963753
        ],
        "speed": 9.348820325425507,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.921095848083496,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.445068359375,
                5178.22412109375,
                378.4987487792969
            ],
            "velocity": [
                -0.004986986517906189,
                -8.076679229736328,
                -0.033330854028463364
            ],
            "speed_kmh": 29.076298358269582,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.565409660339355,
                "transform": {
                    "location": {
                        "x": -2498.921875,
                        "y": 5218.98974609375,
                        "z": 378.639404296875
                    },
                    "rotation": {
                        "roll": -0.0003662094532046467,
                        "pitch": -0.1043652817606926,
                        "yaw": -89.98789978027344
                    }
                },
                "velocity": {
                    "x": -0.004890086129307747,
                    "y": -9.565375328063965,
                    "z": -0.025343531742691994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3710,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.476750373840332,
                "transform": {
                    "location": {
                        "x": -2498.933837890625,
                        "y": 5197.451171875,
                        "z": 378.5714111328125
                    },
                    "rotation": {
                        "roll": -0.00027465043240226805,
                        "pitch": -0.22607241570949554,
                        "yaw": -90.0347900390625
                    }
                },
                "velocity": {
                    "x": -0.004533942323178053,
                    "y": -7.476701259613037,
                    "z": -0.02667844668030739
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3709,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044401168823242,
                "transform": {
                    "location": {
                        "x": -2498.94482421875,
                        "y": 5179.22216796875,
                        "z": 378.5145263671875
                    },
                    "rotation": {
                        "roll": 0.0017316415905952454,
                        "pitch": -0.24093490839004517,
                        "yaw": -90.05410766601562
                    }
                },
                "velocity": {
                    "x": -0.006475927773863077,
                    "y": -8.044328689575195,
                    "z": -0.0334516279399395
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3708,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021848678588867,
                "transform": {
                    "location": {
                        "x": -2498.957763671875,
                        "y": 5158.9267578125,
                        "z": 378.4016418457031
                    },
                    "rotation": {
                        "roll": -0.005737306084483862,
                        "pitch": -0.39178645610809326,
                        "yaw": -90.01265716552734
                    }
                },
                "velocity": {
                    "x": -3.3969343348871917e-05,
                    "y": -8.021676063537598,
                    "z": -0.052606888115406036
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.378745079040527,
                "transform": {
                    "location": {
                        "x": -2502.41455078125,
                        "y": 5227.4814453125,
                        "z": 378.6565246582031
                    },
                    "rotation": {
                        "roll": 0.0004641617997549474,
                        "pitch": -0.18694910407066345,
                        "yaw": -90.04106903076172
                    }
                },
                "velocity": {
                    "x": -0.006142905913293362,
                    "y": -8.37872314453125,
                    "z": -0.017989205196499825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.334686279296875,
                "transform": {
                    "location": {
                        "x": -2502.42724609375,
                        "y": 5208.45751953125,
                        "z": 378.6212158203125
                    },
                    "rotation": {
                        "roll": -6.103841587901115e-05,
                        "pitch": -0.17220954596996307,
                        "yaw": -90.0399169921875
                    }
                },
                "velocity": {
                    "x": -0.0065437494777143,
                    "y": -9.334644317626953,
                    "z": -0.027054814621806145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076749801635742,
                "transform": {
                    "location": {
                        "x": -2502.445068359375,
                        "y": 5178.22412109375,
                        "z": 378.4987487792969
                    },
                    "rotation": {
                        "roll": 0.0002987166808452457,
                        "pitch": -0.2404772937297821,
                        "yaw": -90.03499603271484
                    }
                },
                "velocity": {
                    "x": -0.004986986517906189,
                    "y": -8.076679229736328,
                    "z": -0.033330854028463364
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038675308227539,
                "transform": {
                    "location": {
                        "x": -2502.457763671875,
                        "y": 5159.1767578125,
                        "z": 378.4111328125
                    },
                    "rotation": {
                        "roll": -0.0003967201628256589,
                        "pitch": -0.3846489191055298,
                        "yaw": -90.02791595458984
                    }
                },
                "velocity": {
                    "x": 0.0015935288975015283,
                    "y": -8.03849983215332,
                    "z": -0.05320535972714424
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.102989196777344,
                "transform": {
                    "location": {
                        "x": -2505.917724609375,
                        "y": 5221.0888671875,
                        "z": 378.64678955078125
                    },
                    "rotation": {
                        "roll": -0.00012206997780594975,
                        "pitch": 0.14008717238903046,
                        "yaw": -90.04659271240234
                    }
                },
                "velocity": {
                    "x": -0.007458710577338934,
                    "y": -9.102961540222168,
                    "z": -0.021418137475848198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.923192977905273,
                "transform": {
                    "location": {
                        "x": -2505.9296875,
                        "y": 5202.6572265625,
                        "z": 378.60015869140625
                    },
                    "rotation": {
                        "roll": 0.00013256330566946417,
                        "pitch": -0.2826263904571533,
                        "yaw": -90.0198974609375
                    }
                },
                "velocity": {
                    "x": -0.004719880409538746,
                    "y": -7.92315149307251,
                    "z": -0.025211863219738007
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016164779663086,
                "transform": {
                    "location": {
                        "x": -2505.94189453125,
                        "y": 5184.1376953125,
                        "z": 378.5672607421875
                    },
                    "rotation": {
                        "roll": -0.0014343365328386426,
                        "pitch": -0.21642819046974182,
                        "yaw": -90.03075408935547
                    }
                },
                "velocity": {
                    "x": -0.0043673329055309296,
                    "y": -8.016109466552734,
                    "z": -0.029416054487228394
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.828765392303467,
                "transform": {
                    "location": {
                        "x": -2505.955810546875,
                        "y": 5164.84765625,
                        "z": 378.4358825683594
                    },
                    "rotation": {
                        "roll": 3.915429988410324e-05,
                        "pitch": -0.3605929911136627,
                        "yaw": -90.09606170654297
                    }
                },
                "velocity": {
                    "x": -0.005281178746372461,
                    "y": -6.82864236831665,
                    "z": -0.04064150154590607
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.06197567284107208,
        "expert_target_speed": 8.227193191093276,
        "target_point": [
            54.53425123227247,
            0.79923268832094
        ],
        "target_point_next": [
            64.72943681592555,
            1.211811386980624
        ]
    },
    "150": {
        "acceleration": [
            0.11173605918884277,
            0.02544403076171875,
            0.0023157894611358643
        ],
        "angular_velocity": [
            0.1061490848660469,
            -0.24227093160152435,
            2.7095227241516113
        ],
        "forward_vector": [
            -0.012120231986045837,
            -0.9999265670776367,
            0.0001778602454578504
        ],
        "right_vector": [
            0.9999265670776367,
            -0.01212025061249733,
            -0.00010432153067085892
        ],
        "location": [
            -2502.433837890625,
            5184.71044921875,
            378.5301513671875
        ],
        "rotation": [
            0.00597718358039856,
            0.01019064150750637,
            -90.6944580078125
        ],
        "velocity": [
            -0.11601312458515167,
            -10.074064254760742,
            -0.03716541826725006
        ],
        "speed": 10.074732237341303,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.498638153076172,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.44677734375,
                5176.2119140625,
                378.4903564453125
            ],
            "velocity": [
                -0.0062924581579864025,
                -8.02221393585205,
                -0.03412269428372383
            ],
            "speed_kmh": 28.880240307187947,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3727,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.07470703125,
                        "y": 4942.16748046875,
                        "z": 376.0150451660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3726,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.64306640625,
                        "y": 4955.85595703125,
                        "z": 376.1893615722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.091552734375,
                        "y": 4980.8154296875,
                        "z": 376.43499755859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.785400390625,
                        "y": 5005.58984375,
                        "z": 376.7472229003906
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.567138671875,
                        "y": 5025.23193359375,
                        "z": 376.951904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.627197265625,
                        "y": 5051.0751953125,
                        "z": 377.1801452636719
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.074951171875,
                        "y": 5065.91943359375,
                        "z": 377.468505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.29541015625,
                        "y": 5080.732421875,
                        "z": 377.5797119140625
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.294189453125,
                        "y": 5095.57275390625,
                        "z": 377.8866271972656
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.934326171875,
                        "y": 5107.455078125,
                        "z": 377.9686584472656
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8948693871498108,
                "transform": {
                    "location": {
                        "x": -2498.547119140625,
                        "y": 5122.7744140625,
                        "z": 378.1169738769531
                    },
                    "rotation": {
                        "roll": -0.00021364301210269332,
                        "pitch": -0.6284456849098206,
                        "yaw": -88.1536865234375
                    }
                },
                "velocity": {
                    "x": -0.0004166218568570912,
                    "y": 0.009892762638628483,
                    "z": -0.8948146104812622
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9626151919364929,
                "transform": {
                    "location": {
                        "x": -2498.897216796875,
                        "y": 5136.64697265625,
                        "z": 378.2481994628906
                    },
                    "rotation": {
                        "roll": 0.0007322473102249205,
                        "pitch": -0.5166559815406799,
                        "yaw": -88.95584106445312
                    }
                },
                "velocity": {
                    "x": -0.00022716840612702072,
                    "y": 0.008526005782186985,
                    "z": -0.9625774025917053
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9858471155166626,
                "transform": {
                    "location": {
                        "x": -2499.052978515625,
                        "y": 5168.48193359375,
                        "z": 378.4840393066406
                    },
                    "rotation": {
                        "roll": 0.00013585870328824967,
                        "pitch": -0.30935972929000854,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": -3.74632581952028e-05,
                    "y": 0.0052019632421433926,
                    "z": -0.9858334064483643
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.779228925704956,
                "transform": {
                    "location": {
                        "x": -2499.04248046875,
                        "y": 5184.48193359375,
                        "z": 378.5695495605469
                    },
                    "rotation": {
                        "roll": -0.00021363170526456088,
                        "pitch": -0.217254638671875,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.00011170277139171958,
                    "y": 0.0028661477845162153,
                    "z": -0.7792236804962158
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7956225872039795,
                "transform": {
                    "location": {
                        "x": -2499.0283203125,
                        "y": 5206.48193359375,
                        "z": 378.6697998046875
                    },
                    "rotation": {
                        "roll": -0.0005187966744415462,
                        "pitch": -0.1781313270330429,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": -6.524900527438149e-05,
                    "y": 0.0024304643739014864,
                    "z": -0.7956188917160034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -2499.0205078125,
                        "y": 5218.5,
                        "z": 378.7283935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1476755142211914,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.011484146118164,
                "transform": {
                    "location": {
                        "x": -2502.416259765625,
                        "y": 5225.328125,
                        "z": 378.6511535644531
                    },
                    "rotation": {
                        "roll": 0.0009308152948506176,
                        "pitch": -0.11675524711608887,
                        "yaw": -90.0418701171875
                    }
                },
                "velocity": {
                    "x": -0.006576383486390114,
                    "y": -9.011460304260254,
                    "z": -0.01959383860230446
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.090856552124023,
                "transform": {
                    "location": {
                        "x": -2502.428955078125,
                        "y": 5206.02978515625,
                        "z": 378.6143798828125
                    },
                    "rotation": {
                        "roll": 0.0005564255407080054,
                        "pitch": -0.24847543239593506,
                        "yaw": -90.03762817382812
                    }
                },
                "velocity": {
                    "x": -0.004629622679203749,
                    "y": -10.090807914733887,
                    "z": -0.03084356151521206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022289276123047,
                "transform": {
                    "location": {
                        "x": -2502.44677734375,
                        "y": 5176.2119140625,
                        "z": 378.4903564453125
                    },
                    "rotation": {
                        "roll": 0.0003527983499225229,
                        "pitch": -0.240108460187912,
                        "yaw": -90.04339599609375
                    }
                },
                "velocity": {
                    "x": -0.0062924581579864025,
                    "y": -8.02221393585205,
                    "z": -0.03412269428372383
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039833068847656,
                "transform": {
                    "location": {
                        "x": -2502.45751953125,
                        "y": 5157.1669921875,
                        "z": 378.39764404296875
                    },
                    "rotation": {
                        "roll": 1.0152127288165502e-05,
                        "pitch": -0.3820192813873291,
                        "yaw": -89.96988677978516
                    }
                },
                "velocity": {
                    "x": 0.004515618085861206,
                    "y": -8.039656639099121,
                    "z": -0.052951421588659286
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.517918586730957,
                "transform": {
                    "location": {
                        "x": -2505.919677734375,
                        "y": 5218.859375,
                        "z": 378.6423034667969
                    },
                    "rotation": {
                        "roll": 0.00017410385771654546,
                        "pitch": -0.16617166996002197,
                        "yaw": -90.046630859375
                    }
                },
                "velocity": {
                    "x": -0.006924740504473448,
                    "y": -8.517889976501465,
                    "z": -0.021006416529417038
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.901479244232178,
                "transform": {
                    "location": {
                        "x": -2505.9306640625,
                        "y": 5200.7099609375,
                        "z": 378.59375
                    },
                    "rotation": {
                        "roll": 0.0006885003531351686,
                        "pitch": -0.22446049749851227,
                        "yaw": -90.05156707763672
                    }
                },
                "velocity": {
                    "x": -0.005248839966952801,
                    "y": -7.901433944702148,
                    "z": -0.026179298758506775
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042496681213379,
                "transform": {
                    "location": {
                        "x": -2505.94287109375,
                        "y": 5182.13134765625,
                        "z": 378.5596923828125
                    },
                    "rotation": {
                        "roll": 0.00034189209691248834,
                        "pitch": -0.21847042441368103,
                        "yaw": -90.03704833984375
                    }
                },
                "velocity": {
                    "x": -0.005280517973005772,
                    "y": -8.042434692382812,
                    "z": -0.031059904024004936
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.499645709991455,
                "transform": {
                    "location": {
                        "x": -2505.95703125,
                        "y": 5163.0693359375,
                        "z": 378.4249572753906
                    },
                    "rotation": {
                        "roll": 1.3420464711089153e-05,
                        "pitch": -0.32125791907310486,
                        "yaw": -90.06352996826172
                    }
                },
                "velocity": {
                    "x": -0.005641848314553499,
                    "y": -7.499505996704102,
                    "z": -0.04538750648498535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.041581351310014725,
        "expert_target_speed": 8.222548464561791,
        "target_point": [
            52.10021661818773,
            0.7490991821079359
        ],
        "target_point_next": [
            62.295790070744665,
            1.1519791161227593
        ]
    },
    "155": {
        "acceleration": [
            0.15773102641105652,
            2.674713134765625,
            0.011461973190307617
        ],
        "angular_velocity": [
            1.09269118309021,
            -0.08634061366319656,
            -1.6215418577194214
        ],
        "forward_vector": [
            -0.009359645657241344,
            -0.9999457001686096,
            -0.004586441908031702
        ],
        "right_vector": [
            0.9999560713768005,
            -0.009361806325614452,
            0.0004500692884903401
        ],
        "location": [
            -2502.45849609375,
            5182.26025390625,
            378.5219421386719
        ],
        "rotation": [
            -0.025787342339754105,
            -0.2627846896648407,
            -90.53628540039062
        ],
        "velocity": [
            -0.07806798070669174,
            -9.506685256958008,
            -0.036613579839468
        ],
        "speed": 9.507005794911159,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.06065559387207,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.448486328125,
                5174.19970703125,
                378.481201171875
            ],
            "velocity": [
                -0.0043624695390462875,
                -8.077205657958984,
                -0.038373351097106934
            ],
            "speed_kmh": 29.07827275662856,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3727,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.8154296875,
                        "y": 4939.6845703125,
                        "z": 375.87811279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3726,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.341552734375,
                        "y": 4953.380859375,
                        "z": 376.0390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.722900390625,
                        "y": 4978.3447265625,
                        "z": 376.356201171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.417236328125,
                        "y": 5003.1201171875,
                        "z": 376.6210021972656
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.23779296875,
                        "y": 5022.759765625,
                        "z": 376.8201904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.36279296875,
                        "y": 5048.58984375,
                        "z": 377.1117858886719
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.84765625,
                        "y": 5063.43408203125,
                        "z": 377.3362121582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.105712890625,
                        "y": 5078.24462890625,
                        "z": 377.5081481933594
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.14404296875,
                        "y": 5093.12353515625,
                        "z": 377.75347900390625
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.81201171875,
                        "y": 5105.00439453125,
                        "z": 377.88714599609375
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09235338866710663,
                "transform": {
                    "location": {
                        "x": -2498.547119140625,
                        "y": 5122.775390625,
                        "z": 378.0740051269531
                    },
                    "rotation": {
                        "roll": 6.112855044193566e-05,
                        "pitch": -0.6301873922348022,
                        "yaw": -88.15367889404297
                    }
                },
                "velocity": {
                    "x": -2.8377333364915103e-05,
                    "y": -0.0010558896465227008,
                    "z": 0.09234735369682312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.05224449187517166,
                "transform": {
                    "location": {
                        "x": -2498.897216796875,
                        "y": 5136.64697265625,
                        "z": 378.2064514160156
                    },
                    "rotation": {
                        "roll": 0.0014696712605655193,
                        "pitch": -0.5186777114868164,
                        "yaw": -88.95585632324219
                    }
                },
                "velocity": {
                    "x": 2.297929495398421e-05,
                    "y": -0.00048456594231538475,
                    "z": 0.05224223807454109
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0999506264925003,
                "transform": {
                    "location": {
                        "x": -2499.052978515625,
                        "y": 5168.48193359375,
                        "z": 378.4361572265625
                    },
                    "rotation": {
                        "roll": 0.0006113508134149015,
                        "pitch": -0.3089909255504608,
                        "yaw": -90.0372314453125
                    }
                },
                "velocity": {
                    "x": 2.63070069195237e-05,
                    "y": -0.0005412352620624006,
                    "z": 0.09994915872812271
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.008346366696059704,
                "transform": {
                    "location": {
                        "x": -2499.04248046875,
                        "y": 5184.48193359375,
                        "z": 378.5163879394531
                    },
                    "rotation": {
                        "roll": -0.00036621151957660913,
                        "pitch": -0.21963155269622803,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 7.795612327754498e-05,
                    "y": -7.961119990795851e-05,
                    "z": 0.008345622569322586
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.02408760040998459,
                "transform": {
                    "location": {
                        "x": -2499.0283203125,
                        "y": 5206.48193359375,
                        "z": 378.57666015625
                    },
                    "rotation": {
                        "roll": -0.0011596702970564365,
                        "pitch": -0.17953833937644958,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": -1.9666038042487344e-06,
                    "y": 7.110584556357935e-05,
                    "z": -0.02408749610185623
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06477386504411697,
                "transform": {
                    "location": {
                        "x": -2499.0205078125,
                        "y": 5218.5,
                        "z": 378.6140441894531
                    },
                    "rotation": {
                        "roll": -0.0010375984711572528,
                        "pitch": -0.1470334678888321,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": 2.337411387998145e-05,
                    "y": -0.00016922397480811924,
                    "z": 0.06477364152669907
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.019765853881836,
                "transform": {
                    "location": {
                        "x": -2502.41845703125,
                        "y": 5222.9375,
                        "z": 378.6452941894531
                    },
                    "rotation": {
                        "roll": 0.0007954041939228773,
                        "pitch": -0.07333573698997498,
                        "yaw": -90.04205322265625
                    }
                },
                "velocity": {
                    "x": -0.007334783673286438,
                    "y": -10.019735336303711,
                    "z": -0.023834824562072754
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.831843376159668,
                "transform": {
                    "location": {
                        "x": -2502.4306640625,
                        "y": 5203.4970703125,
                        "z": 378.6058044433594
                    },
                    "rotation": {
                        "roll": 0.0008070796611718833,
                        "pitch": -0.16891740262508392,
                        "yaw": -90.03555297851562
                    }
                },
                "velocity": {
                    "x": -0.006082823965698481,
                    "y": -9.83178424835205,
                    "z": -0.033719200640916824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07729721069336,
                "transform": {
                    "location": {
                        "x": -2502.448486328125,
                        "y": 5174.19970703125,
                        "z": 378.481201171875
                    },
                    "rotation": {
                        "roll": 0.0016088740667328238,
                        "pitch": -0.2689181864261627,
                        "yaw": -90.04278564453125
                    }
                },
                "velocity": {
                    "x": -0.0043624695390462875,
                    "y": -8.077205657958984,
                    "z": -0.038373351097106934
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039872169494629,
                "transform": {
                    "location": {
                        "x": -2502.455322265625,
                        "y": 5155.1572265625,
                        "z": 378.38372802734375
                    },
                    "rotation": {
                        "roll": 0.003083545481786132,
                        "pitch": -0.4003651738166809,
                        "yaw": -89.95919036865234
                    }
                },
                "velocity": {
                    "x": 0.02134489081799984,
                    "y": -8.039637565612793,
                    "z": -0.05751584470272064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.32708740234375,
                "transform": {
                    "location": {
                        "x": -2505.921142578125,
                        "y": 5216.87841796875,
                        "z": 378.6384582519531
                    },
                    "rotation": {
                        "roll": -0.0003051824460271746,
                        "pitch": -0.5028657913208008,
                        "yaw": -90.04270935058594
                    }
                },
                "velocity": {
                    "x": -0.004366666544228792,
                    "y": -7.32705545425415,
                    "z": -0.02123952843248844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.727011680603027,
                "transform": {
                    "location": {
                        "x": -2505.932373046875,
                        "y": 5198.6142578125,
                        "z": 378.5867004394531
                    },
                    "rotation": {
                        "roll": 0.0008239220478571951,
                        "pitch": -0.06567226350307465,
                        "yaw": -90.02816772460938
                    }
                },
                "velocity": {
                    "x": -0.0064124902710318565,
                    "y": -8.726958274841309,
                    "z": -0.02994251623749733
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01606273651123,
                "transform": {
                    "location": {
                        "x": -2505.944091796875,
                        "y": 5180.1240234375,
                        "z": 378.5516662597656
                    },
                    "rotation": {
                        "roll": -0.0008850105223245919,
                        "pitch": -0.23577812314033508,
                        "yaw": -90.03802490234375
                    }
                },
                "velocity": {
                    "x": -0.005368582438677549,
                    "y": -8.015995979309082,
                    "z": -0.03225813806056976
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.50390625,
                "transform": {
                    "location": {
                        "x": -2505.95849609375,
                        "y": 5161.10302734375,
                        "z": 378.41265869140625
                    },
                    "rotation": {
                        "roll": 0.0007517210324294865,
                        "pitch": -0.34203535318374634,
                        "yaw": -90.0901870727539
                    }
                },
                "velocity": {
                    "x": -0.005551629699766636,
                    "y": -8.503729820251465,
                    "z": -0.05442311614751816
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.044180307537317276,
        "expert_target_speed": 7.512445825751948,
        "target_point": [
            49.65176600329191,
            0.6071012027224284
        ],
        "target_point_next": [
            59.84841200916938,
            0.981855120031596
        ]
    },
    "160": {
        "acceleration": [
            0.13372793793678284,
            3.7566375732421875,
            0.041265711188316345
        ],
        "angular_velocity": [
            0.8918018937110901,
            0.024051636457443237,
            1.0844546556472778
        ],
        "forward_vector": [
            -0.005849894601851702,
            -0.9999296069145203,
            -0.010321671143174171
        ],
        "right_vector": [
            0.9999826550483704,
            -0.005856774747371674,
            0.0006364616565406322
        ],
        "location": [
            -2502.473388671875,
            5180.01708984375,
            378.51416015625
        ],
        "rotation": [
            -0.0364685133099556,
            -0.5913987159729004,
            -90.33519744873047
        ],
        "velocity": [
            -0.03925757855176926,
            -8.345972061157227,
            -0.032964304089546204
        ],
        "speed": 8.346064390063784,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.829742431640625,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.44970703125,
                5172.1875,
                378.4714660644531
            ],
            "velocity": [
                -0.004575019236654043,
                -8.023601531982422,
                -0.04106833413243294
            ],
            "speed_kmh": 28.885348578723875,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3727,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.56298828125,
                        "y": 4937.1982421875,
                        "z": 375.8011169433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3726,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.05078125,
                        "y": 4950.8994140625,
                        "z": 375.9986877441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.358154296875,
                        "y": 4975.873046875,
                        "z": 376.3153381347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.048583984375,
                        "y": 5000.64892578125,
                        "z": 376.5560607910156
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.90185546875,
                        "y": 5020.28466796875,
                        "z": 376.7512512207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.091796875,
                        "y": 5046.1044921875,
                        "z": 377.06500244140625
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.61474609375,
                        "y": 5060.94677734375,
                        "z": 377.2617492675781
                    },
                    "rotation": {
                        "roll": 2.6682641873776447e-08,
                        "pitch": -0.7387053966522217,
                        "yaw": -84.35952758789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.90966796875,
                        "y": 5075.7548828125,
                        "z": 377.45819091796875
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.98583984375,
                        "y": 5090.63330078125,
                        "z": 377.6754455566406
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.68505859375,
                        "y": 5102.5126953125,
                        "z": 377.8420104980469
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.03269096463918686,
                "transform": {
                    "location": {
                        "x": -2498.547119140625,
                        "y": 5122.77490234375,
                        "z": 378.091552734375
                    },
                    "rotation": {
                        "roll": 3.433978417888284e-05,
                        "pitch": -0.6302488446235657,
                        "yaw": -88.15367889404297
                    }
                },
                "velocity": {
                    "x": 0.0001352471299469471,
                    "y": -0.0003810067428275943,
                    "z": 0.03268846496939659
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8905354738235474,
                "transform": {
                    "location": {
                        "x": -2498.896240234375,
                        "y": 5136.60595703125,
                        "z": 378.21527099609375
                    },
                    "rotation": {
                        "roll": -9.154372673947364e-05,
                        "pitch": -0.47814735770225525,
                        "yaw": -88.96578979492188
                    }
                },
                "velocity": {
                    "x": 0.019428882747888565,
                    "y": -0.8902482986450195,
                    "z": 0.011569480411708355
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.03560059890151024,
                "transform": {
                    "location": {
                        "x": -2499.052978515625,
                        "y": 5168.48193359375,
                        "z": 378.45538330078125
                    },
                    "rotation": {
                        "roll": -0.00027465232415124774,
                        "pitch": -0.3099949359893799,
                        "yaw": -90.0372314453125
                    }
                },
                "velocity": {
                    "x": -1.6603496987954713e-05,
                    "y": -0.00019936922763008624,
                    "z": 0.03560003638267517
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5107585191726685,
                "transform": {
                    "location": {
                        "x": -2499.04248046875,
                        "y": 5184.462890625,
                        "z": 378.5235595703125
                    },
                    "rotation": {
                        "roll": -3.0515820981236175e-05,
                        "pitch": -0.13616664707660675,
                        "yaw": -90.0384521484375
                    }
                },
                "velocity": {
                    "x": -0.0004931642906740308,
                    "y": -0.5101019740104675,
                    "z": 0.025884704664349556
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.15347041189670563,
                "transform": {
                    "location": {
                        "x": -2499.0283203125,
                        "y": 5206.478515625,
                        "z": 378.60382080078125
                    },
                    "rotation": {
                        "roll": -0.0007324209436774254,
                        "pitch": -0.17050200700759888,
                        "yaw": -90.03734588623047
                    }
                },
                "velocity": {
                    "x": 5.927291203988716e-05,
                    "y": -0.07440491020679474,
                    "z": 0.1342276930809021
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.05327204614877701,
                "transform": {
                    "location": {
                        "x": -2499.0205078125,
                        "y": 5218.5,
                        "z": 378.635498046875
                    },
                    "rotation": {
                        "roll": -0.0006713817128911614,
                        "pitch": -0.1470949500799179,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": -7.46446312405169e-05,
                    "y": -0.00014177394041325897,
                    "z": 0.053271807730197906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.200480461120605,
                "transform": {
                    "location": {
                        "x": -2502.420166015625,
                        "y": 5220.50634765625,
                        "z": 378.6400451660156
                    },
                    "rotation": {
                        "roll": 0.0006670604343526065,
                        "pitch": -0.17480501532554626,
                        "yaw": -90.03775787353516
                    }
                },
                "velocity": {
                    "x": -0.006072515621781349,
                    "y": -9.200447082519531,
                    "z": -0.02391289733350277
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.222796440124512,
                "transform": {
                    "location": {
                        "x": -2502.43212890625,
                        "y": 5201.1484375,
                        "z": 378.59771728515625
                    },
                    "rotation": {
                        "roll": -6.103165287640877e-05,
                        "pitch": -0.13958173990249634,
                        "yaw": -90.03570556640625
                    }
                },
                "velocity": {
                    "x": -0.005746159236878157,
                    "y": -9.22274398803711,
                    "z": -0.030537670478224754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02370834350586,
                "transform": {
                    "location": {
                        "x": -2502.44970703125,
                        "y": 5172.1875,
                        "z": 378.4714660644531
                    },
                    "rotation": {
                        "roll": -0.0007934594177640975,
                        "pitch": -0.2911982834339142,
                        "yaw": -90.04174041748047
                    }
                },
                "velocity": {
                    "x": -0.004575019236654043,
                    "y": -8.023601531982422,
                    "z": -0.04106833413243294
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03962230682373,
                "transform": {
                    "location": {
                        "x": -2502.4501953125,
                        "y": 5153.1474609375,
                        "z": 378.36944580078125
                    },
                    "rotation": {
                        "roll": 0.0016090343706309795,
                        "pitch": -0.4264223575592041,
                        "yaw": -89.82848358154297
                    }
                },
                "velocity": {
                    "x": 0.02827315591275692,
                    "y": -8.039360046386719,
                    "z": -0.05844617635011673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.36557149887085,
                "transform": {
                    "location": {
                        "x": -2505.922119140625,
                        "y": 5215.0712890625,
                        "z": 378.63287353515625
                    },
                    "rotation": {
                        "roll": -0.00012205175153212622,
                        "pitch": -0.3403346538543701,
                        "yaw": -90.04132080078125
                    }
                },
                "velocity": {
                    "x": -0.005367268808186054,
                    "y": -7.365538120269775,
                    "z": -0.02136973850429058
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.905198097229004,
                "transform": {
                    "location": {
                        "x": -2505.93408203125,
                        "y": 5196.5283203125,
                        "z": 378.57952880859375
                    },
                    "rotation": {
                        "roll": 0.00023323000641539693,
                        "pitch": -0.29421037435531616,
                        "yaw": -90.05661010742188
                    }
                },
                "velocity": {
                    "x": -0.006798546761274338,
                    "y": -7.905141353607178,
                    "z": -0.029142756015062332
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046304702758789,
                "transform": {
                    "location": {
                        "x": -2505.945556640625,
                        "y": 5178.11572265625,
                        "z": 378.54339599609375
                    },
                    "rotation": {
                        "roll": 5.0439793994883075e-05,
                        "pitch": -0.2421848326921463,
                        "yaw": -90.04437255859375
                    }
                },
                "velocity": {
                    "x": -0.0062767136842012405,
                    "y": -8.046229362487793,
                    "z": -0.0344262532889843
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.4458589553833,
                "transform": {
                    "location": {
                        "x": -2505.959228515625,
                        "y": 5158.94384765625,
                        "z": 378.3988342285156
                    },
                    "rotation": {
                        "roll": 0.0004601406690198928,
                        "pitch": -0.3789047300815582,
                        "yaw": -90.05810546875
                    }
                },
                "velocity": {
                    "x": -0.0008382474188692868,
                    "y": -8.445667266845703,
                    "z": -0.05686252564191818
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.049697015434503555,
        "expert_target_speed": 6.671032473040146,
        "target_point": [
            47.410374326474276,
            0.43501931279847306
        ],
        "target_point_next": [
            57.60826983216927,
            0.7740731767218181
        ]
    },
    "165": {
        "acceleration": [
            0.011522509157657623,
            -1.8460273742675781,
            -0.0075163692235946655
        ],
        "angular_velocity": [
            -1.4056549072265625,
            0.056903596967458725,
            0.05380059778690338
        ],
        "forward_vector": [
            -0.004080936778336763,
            -0.999965488910675,
            -0.007235701661556959
        ],
        "right_vector": [
            0.9999915957450867,
            -0.004083964042365551,
            0.0004037244070786983
        ],
        "location": [
            -2502.482421875,
            5177.9501953125,
            378.5048828125
        ],
        "rotation": [
            -0.023132309317588806,
            -0.41457879543304443,
            -90.23382568359375
        ],
        "velocity": [
            -0.030816098675131798,
            -8.38767147064209,
            -0.034209683537483215
        ],
        "speed": 8.387728079245344,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.775574207305908,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.451416015625,
                5170.1748046875,
                378.4613342285156
            ],
            "velocity": [
                -0.006161883939057589,
                -8.076079368591309,
                -0.040876902639865875
            ],
            "speed_kmh": 29.074266602559216,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3727,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.31787109375,
                        "y": 4934.7099609375,
                        "z": 375.7634582519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3726,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.76123046875,
                        "y": 4948.41650390625,
                        "z": 375.9593200683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.99560546875,
                        "y": 4973.3994140625,
                        "z": 376.28253173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.6796875,
                        "y": 4998.17529296875,
                        "z": 376.5316467285156
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.560302734375,
                        "y": 5017.80859375,
                        "z": 376.7243957519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.814697265625,
                        "y": 5043.61865234375,
                        "z": 377.0320129394531
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.37548828125,
                        "y": 5058.458984375,
                        "z": 377.2242431640625
                    },
                    "rotation": {
                        "roll": 2.6682641873776447e-08,
                        "pitch": -0.7387053966522217,
                        "yaw": -84.35952758789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.707763671875,
                        "y": 5073.2646484375,
                        "z": 377.42193603515625
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.821044921875,
                        "y": 5088.140625,
                        "z": 377.6337890625
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.54931640625,
                        "y": 5100.017578125,
                        "z": 377.80419921875
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8043360710144043,
                "transform": {
                    "location": {
                        "x": -2498.54150390625,
                        "y": 5122.646484375,
                        "z": 378.09405517578125
                    },
                    "rotation": {
                        "roll": 0.003344780532643199,
                        "pitch": -0.7789283990859985,
                        "yaw": -88.22528076171875
                    }
                },
                "velocity": {
                    "x": 0.06471342593431473,
                    "y": -1.8030709028244019,
                    "z": -0.019388074055314064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6241973638534546,
                "transform": {
                    "location": {
                        "x": -2498.889892578125,
                        "y": 5136.28662109375,
                        "z": 378.2148742675781
                    },
                    "rotation": {
                        "roll": -0.001983625115826726,
                        "pitch": -0.47756680846214294,
                        "yaw": -88.88836669921875
                    }
                },
                "velocity": {
                    "x": 0.038005534559488297,
                    "y": -1.6237058639526367,
                    "z": -0.012336758896708488
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6068767309188843,
                "transform": {
                    "location": {
                        "x": -2499.052734375,
                        "y": 5168.36376953125,
                        "z": 378.4574279785156
                    },
                    "rotation": {
                        "roll": -0.0008850136655382812,
                        "pitch": -0.2810349464416504,
                        "yaw": -90.0406494140625
                    }
                },
                "velocity": {
                    "x": 0.0026339024771004915,
                    "y": -1.6068521738052368,
                    "z": -0.008485269732773304
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4858397245407104,
                "transform": {
                    "location": {
                        "x": -2499.04248046875,
                        "y": 5184.18505859375,
                        "z": 378.5258483886719
                    },
                    "rotation": {
                        "roll": 0.0008081987034529448,
                        "pitch": 0.12480804324150085,
                        "yaw": -90.07418823242188
                    }
                },
                "velocity": {
                    "x": -0.0015935380943119526,
                    "y": -1.4858332872390747,
                    "z": 0.004071149509400129
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7152864933013916,
                "transform": {
                    "location": {
                        "x": -2499.028076171875,
                        "y": 5206.392578125,
                        "z": 378.6202392578125
                    },
                    "rotation": {
                        "roll": 0.0004959310172125697,
                        "pitch": -0.05444343388080597,
                        "yaw": -90.05154418945312
                    }
                },
                "velocity": {
                    "x": -0.00025372017989866436,
                    "y": -0.7152199149131775,
                    "z": 0.00975795742124319
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0445904731750488,
                "transform": {
                    "location": {
                        "x": -2499.0205078125,
                        "y": 5218.45263671875,
                        "z": 378.6402587890625
                    },
                    "rotation": {
                        "roll": 0.0002643703483045101,
                        "pitch": -0.12924082577228546,
                        "yaw": -90.0335693359375
                    }
                },
                "velocity": {
                    "x": -0.0013264588778838515,
                    "y": -1.0445894002914429,
                    "z": 0.0007359313894994557
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.616999626159668,
                "transform": {
                    "location": {
                        "x": -2502.42138671875,
                        "y": 5218.31103515625,
                        "z": 378.6343688964844
                    },
                    "rotation": {
                        "roll": 6.563418537552934e-06,
                        "pitch": -0.18459951877593994,
                        "yaw": -90.0372543334961
                    }
                },
                "velocity": {
                    "x": -0.005667684134095907,
                    "y": -8.616971969604492,
                    "z": -0.021113866940140724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.734493255615234,
                "transform": {
                    "location": {
                        "x": -2502.43310546875,
                        "y": 5198.7763671875,
                        "z": 378.5904541015625
                    },
                    "rotation": {
                        "roll": -0.0003051730163861066,
                        "pitch": -0.22415313124656677,
                        "yaw": -90.03152465820312
                    }
                },
                "velocity": {
                    "x": -0.00534865353256464,
                    "y": -9.734434127807617,
                    "z": -0.03332315757870674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07618522644043,
                "transform": {
                    "location": {
                        "x": -2502.451416015625,
                        "y": 5170.1748046875,
                        "z": 378.4613342285156
                    },
                    "rotation": {
                        "roll": 0.0002561753208283335,
                        "pitch": -0.28759193420410156,
                        "yaw": -90.04395294189453
                    }
                },
                "velocity": {
                    "x": -0.006161883939057589,
                    "y": -8.076079368591309,
                    "z": -0.040876902639865875
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03934383392334,
                "transform": {
                    "location": {
                        "x": -2502.443115234375,
                        "y": 5151.13818359375,
                        "z": 378.3542175292969
                    },
                    "rotation": {
                        "roll": -0.00045778253115713596,
                        "pitch": -0.43383991718292236,
                        "yaw": -89.83391571044922
                    }
                },
                "velocity": {
                    "x": 0.026208003982901573,
                    "y": -8.039054870605469,
                    "z": -0.06288041919469833
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.274336814880371,
                "transform": {
                    "location": {
                        "x": -2505.92333984375,
                        "y": 5213.1015625,
                        "z": 378.6258544921875
                    },
                    "rotation": {
                        "roll": 0.0009074265835806727,
                        "pitch": 0.04459430277347565,
                        "yaw": -90.04070281982422
                    }
                },
                "velocity": {
                    "x": -0.005856390576809645,
                    "y": -8.274306297302246,
                    "z": -0.021707290783524513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.837470531463623,
                "transform": {
                    "location": {
                        "x": -2505.936279296875,
                        "y": 5194.5927734375,
                        "z": 378.5726623535156
                    },
                    "rotation": {
                        "roll": 0.000353505602106452,
                        "pitch": -0.24786755442619324,
                        "yaw": -90.03475189208984
                    }
                },
                "velocity": {
                    "x": -0.006615016143769026,
                    "y": -7.837413311004639,
                    "z": -0.029169892892241478
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011290550231934,
                "transform": {
                    "location": {
                        "x": -2505.947509765625,
                        "y": 5176.10888671875,
                        "z": 378.534912109375
                    },
                    "rotation": {
                        "roll": -0.0007629334577359259,
                        "pitch": -0.24093490839004517,
                        "yaw": -90.04512786865234
                    }
                },
                "velocity": {
                    "x": -0.0063379076309502125,
                    "y": -8.011218070983887,
                    "z": -0.033632587641477585
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.100456237792969,
                "transform": {
                    "location": {
                        "x": -2505.95947265625,
                        "y": 5156.88232421875,
                        "z": 378.38519287109375
                    },
                    "rotation": {
                        "roll": 1.5848547263885848e-05,
                        "pitch": -0.39373305439949036,
                        "yaw": -90.01834106445312
                    }
                },
                "velocity": {
                    "x": 0.0017588859191164374,
                    "y": -8.100257873535156,
                    "z": -0.05670977011322975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.04404487833380699,
        "expert_target_speed": 6.645965249913154,
        "target_point": [
            45.34416239454249,
            0.35083938329344844
        ],
        "target_point_next": [
            55.54264802485783,
            0.6716525936929744
        ]
    },
    "170": {
        "acceleration": [
            -0.20057350397109985,
            3.0240249633789062,
            -0.03900274634361267
        ],
        "angular_velocity": [
            0.8422088027000427,
            0.16430500149726868,
            -0.9627469182014465
        ],
        "forward_vector": [
            -0.006523514166474342,
            -0.9999645352363586,
            -0.00532564939931035
        ],
        "right_vector": [
            0.9999786019325256,
            -0.006520736962556839,
            -0.0005387354176491499
        ],
        "location": [
            -2502.494873046875,
            5175.83642578125,
            378.49566650390625
        ],
        "rotation": [
            0.030867701396346092,
            -0.3051386773586273,
            -90.373779296875
        ],
        "velocity": [
            -0.07446076720952988,
            -8.264657020568848,
            -0.037090200930833817
        ],
        "speed": 8.264992442434014,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.674074649810791,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.452880859375,
                5168.16259765625,
                378.45068359375
            ],
            "velocity": [
                -0.005637859459966421,
                -8.02512264251709,
                -0.04546218365430832
            ],
            "speed_kmh": 28.890912215065644,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3727,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.08056640625,
                        "y": 4932.22119140625,
                        "z": 375.7261657714844
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3726,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.485107421875,
                        "y": 4945.931640625,
                        "z": 375.9238586425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.640869140625,
                        "y": 4970.9248046875,
                        "z": 376.251953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.311279296875,
                        "y": 4995.70166015625,
                        "z": 376.5078125
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.21044921875,
                        "y": 5015.3330078125,
                        "z": 376.6983947753906
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.531494140625,
                        "y": 5041.13427734375,
                        "z": 376.99993896484375
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.129638671875,
                        "y": 5055.9716796875,
                        "z": 377.1898498535156
                    },
                    "rotation": {
                        "roll": -5.336513808629206e-08,
                        "pitch": -0.7259534597396851,
                        "yaw": -84.07304382324219
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.4990234375,
                        "y": 5070.77490234375,
                        "z": 377.3871154785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.650146484375,
                        "y": 5085.6474609375,
                        "z": 377.5956115722656
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.409423828125,
                        "y": 5097.52197265625,
                        "z": 377.76776123046875
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1642024517059326,
                "transform": {
                    "location": {
                        "x": -2498.51904296875,
                        "y": 5121.99658203125,
                        "z": 378.0867004394531
                    },
                    "rotation": {
                        "roll": 0.0013435138389468193,
                        "pitch": -0.7899727821350098,
                        "yaw": -88.15693664550781
                    }
                },
                "velocity": {
                    "x": 0.11188408732414246,
                    "y": -3.1620211601257324,
                    "z": -0.03578808531165123
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.7085812091827393,
                "transform": {
                    "location": {
                        "x": -2498.87646484375,
                        "y": 5135.7314453125,
                        "z": 378.20989990234375
                    },
                    "rotation": {
                        "roll": -0.0011291522532701492,
                        "pitch": -0.4618232250213623,
                        "yaw": -88.92540740966797
                    }
                },
                "velocity": {
                    "x": 0.0639389231801033,
                    "y": -2.707709789276123,
                    "z": -0.0251295268535614
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.82297420501709,
                "transform": {
                    "location": {
                        "x": -2499.052978515625,
                        "y": 5167.78076171875,
                        "z": 378.4539489746094
                    },
                    "rotation": {
                        "roll": 0.0007882030913606286,
                        "pitch": -0.28796759247779846,
                        "yaw": -90.045654296875
                    }
                },
                "velocity": {
                    "x": -0.002249526558443904,
                    "y": -2.822927474975586,
                    "z": -0.016063956543803215
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.51043963432312,
                "transform": {
                    "location": {
                        "x": -2499.04296875,
                        "y": 5183.6884765625,
                        "z": 378.5250244140625
                    },
                    "rotation": {
                        "roll": 1.9376764612388797e-05,
                        "pitch": 0.18940795958042145,
                        "yaw": -90.0697021484375
                    }
                },
                "velocity": {
                    "x": -0.002094872063025832,
                    "y": -2.510429859161377,
                    "z": -0.006689825095236301
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4566742181777954,
                "transform": {
                    "location": {
                        "x": -2499.0283203125,
                        "y": 5206.13623046875,
                        "z": 378.6152648925781
                    },
                    "rotation": {
                        "roll": -0.0007324222824536264,
                        "pitch": 0.00795716978609562,
                        "yaw": -90.03594207763672
                    }
                },
                "velocity": {
                    "x": -0.000983791658654809,
                    "y": -1.4564324617385864,
                    "z": -0.026520604267716408
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6696839332580566,
                "transform": {
                    "location": {
                        "x": -2499.02099609375,
                        "y": 5217.935546875,
                        "z": 378.6385803222656
                    },
                    "rotation": {
                        "roll": -0.000335697055561468,
                        "pitch": -0.1081492081284523,
                        "yaw": -90.02447509765625
                    }
                },
                "velocity": {
                    "x": -0.0012418286642059684,
                    "y": -2.6696746349334717,
                    "z": -0.006988782901316881
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.480371475219727,
                "transform": {
                    "location": {
                        "x": -2502.4228515625,
                        "y": 5216.06005859375,
                        "z": 378.62799072265625
                    },
                    "rotation": {
                        "roll": 0.0005724364309571683,
                        "pitch": -0.11898872256278992,
                        "yaw": -90.03726196289062
                    }
                },
                "velocity": {
                    "x": -0.006105775013566017,
                    "y": -9.480335235595703,
                    "z": -0.025404872372746468
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.11385726928711,
                "transform": {
                    "location": {
                        "x": -2502.43408203125,
                        "y": 5196.28271484375,
                        "z": 378.5820617675781
                    },
                    "rotation": {
                        "roll": -0.00015258672647178173,
                        "pitch": -0.24408362805843353,
                        "yaw": -90.03118896484375
                    }
                },
                "velocity": {
                    "x": -0.005514239426702261,
                    "y": -10.113789558410645,
                    "z": -0.036529820412397385
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025253295898438,
                "transform": {
                    "location": {
                        "x": -2502.452880859375,
                        "y": 5168.16259765625,
                        "z": 378.45068359375
                    },
                    "rotation": {
                        "roll": 0.0005614710389636457,
                        "pitch": -0.30884063243865967,
                        "yaw": -90.04083251953125
                    }
                },
                "velocity": {
                    "x": -0.005637859459966421,
                    "y": -8.02512264251709,
                    "z": -0.04546218365430832
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039612770080566,
                "transform": {
                    "location": {
                        "x": -2502.431396484375,
                        "y": 5149.12841796875,
                        "z": 378.338623046875
                    },
                    "rotation": {
                        "roll": 0.005022081546485424,
                        "pitch": -0.4549793601036072,
                        "yaw": -89.64507293701172
                    }
                },
                "velocity": {
                    "x": 0.060899265110492706,
                    "y": -8.039128303527832,
                    "z": -0.06389792263507843
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.370712280273438,
                "transform": {
                    "location": {
                        "x": -2505.92529296875,
                        "y": 5210.91015625,
                        "z": 378.6190185546875
                    },
                    "rotation": {
                        "roll": 0.00024576878058724105,
                        "pitch": 0.23503363132476807,
                        "yaw": -90.04012298583984
                    }
                },
                "velocity": {
                    "x": -0.006561680696904659,
                    "y": -9.370675086975098,
                    "z": -0.02559276483952999
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.647708892822266,
                "transform": {
                    "location": {
                        "x": -2505.93798828125,
                        "y": 5192.51513671875,
                        "z": 378.5650634765625
                    },
                    "rotation": {
                        "roll": -0.00036621259641833603,
                        "pitch": -0.08578716963529587,
                        "yaw": -90.054443359375
                    }
                },
                "velocity": {
                    "x": -0.0060441321693360806,
                    "y": -8.647653579711914,
                    "z": -0.03043210506439209
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.049872398376465,
                "transform": {
                    "location": {
                        "x": -2505.949462890625,
                        "y": 5174.10107421875,
                        "z": 378.5257873535156
                    },
                    "rotation": {
                        "roll": 8.444450031674933e-06,
                        "pitch": -0.2726747989654541,
                        "yaw": -90.04519653320312
                    }
                },
                "velocity": {
                    "x": -0.006323946639895439,
                    "y": -8.04977798461914,
                    "z": -0.03857893869280815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.129776477813721,
                "transform": {
                    "location": {
                        "x": -2505.95849609375,
                        "y": 5154.9248046875,
                        "z": 378.3716735839844
                    },
                    "rotation": {
                        "roll": -0.0022582965902984142,
                        "pitch": -0.4359777867794037,
                        "yaw": -89.92379760742188
                    }
                },
                "velocity": {
                    "x": 0.0141642726957798,
                    "y": -7.129576683044434,
                    "z": -0.051470961421728134
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02521696127951145,
        "expert_target_speed": 6.4448353590168,
        "target_point": [
            43.2293596536697,
            0.4607226286339786
        ],
        "target_point_next": [
            53.427027698530814,
            0.8065502078317816
        ]
    },
    "175": {
        "acceleration": [
            -0.13085603713989258,
            3.589954376220703,
            0.038557350635528564
        ],
        "angular_velocity": [
            0.6836006045341492,
            0.034484874457120895,
            -1.6925660371780396
        ],
        "forward_vector": [
            -0.012581360526382923,
            -0.9998689293861389,
            -0.010188999585807323
        ],
        "right_vector": [
            0.9999204277992249,
            -0.012571686878800392,
            -0.0010128443827852607
        ],
        "location": [
            -2502.517578125,
            5173.9052734375,
            378.4876403808594
        ],
        "rotation": [
            0.058034732937812805,
            -0.5837967395782471,
            -90.72091674804688
        ],
        "velocity": [
            -0.11149097979068756,
            -7.247539043426514,
            -0.03423033282160759
        ],
        "speed": 7.248396541619836,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.755780220031738,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.4541015625,
                5166.14990234375,
                378.4394836425781
            ],
            "velocity": [
                -0.005694116000086069,
                -8.076303482055664,
                -0.04628946632146835
            ],
            "speed_kmh": 29.075177313509247,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3726,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.21044921875,
                        "y": 4943.4462890625,
                        "z": 375.8884582519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.29345703125,
                        "y": 4968.44921875,
                        "z": 376.22265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.9423828125,
                        "y": 4993.2275390625,
                        "z": 376.4844055175781
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.857177734375,
                        "y": 5012.85693359375,
                        "z": 376.6726989746094
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.2421875,
                        "y": 5038.65087890625,
                        "z": 376.96832275390625
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.87744140625,
                        "y": 5053.4833984375,
                        "z": 377.1573791503906
                    },
                    "rotation": {
                        "roll": -5.336513808629206e-08,
                        "pitch": -0.7259534597396851,
                        "yaw": -84.07304382324219
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.284423828125,
                        "y": 5068.2841796875,
                        "z": 377.3531188964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.47314453125,
                        "y": 5083.1552734375,
                        "z": 377.55975341796875
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.260986328125,
                        "y": 5095.02685546875,
                        "z": 377.7313537597656
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.304912567138672,
                "transform": {
                    "location": {
                        "x": -2498.485595703125,
                        "y": 5121.05908203125,
                        "z": 378.0758972167969
                    },
                    "rotation": {
                        "roll": 0.003863762831315398,
                        "pitch": -0.7494493126869202,
                        "yaw": -88.06178283691406
                    }
                },
                "velocity": {
                    "x": 0.16507700085639954,
                    "y": -4.301480770111084,
                    "z": -0.04782138764858246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.049789905548096,
                "transform": {
                    "location": {
                        "x": -2498.858154296875,
                        "y": 5134.8623046875,
                        "z": 378.2018127441406
                    },
                    "rotation": {
                        "roll": -0.0023193254601210356,
                        "pitch": -0.4637766480445862,
                        "yaw": -88.71310424804688
                    }
                },
                "velocity": {
                    "x": 0.09159252047538757,
                    "y": -4.048576354980469,
                    "z": -0.037917669862508774
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.638610601425171,
                "transform": {
                    "location": {
                        "x": -2499.053955078125,
                        "y": 5166.96728515625,
                        "z": 378.4495544433594
                    },
                    "rotation": {
                        "roll": 0.0007047340041026473,
                        "pitch": -0.31402474641799927,
                        "yaw": -90.04548645019531
                    }
                },
                "velocity": {
                    "x": -0.002903645858168602,
                    "y": -3.6385610103607178,
                    "z": -0.01879004016518593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9104626178741455,
                "transform": {
                    "location": {
                        "x": -2499.0439453125,
                        "y": 5182.8818359375,
                        "z": 378.5218200683594
                    },
                    "rotation": {
                        "roll": 0.00030042644357308745,
                        "pitch": 0.3265308439731598,
                        "yaw": -90.05974578857422
                    }
                },
                "velocity": {
                    "x": -0.0028556175529956818,
                    "y": -3.910435199737549,
                    "z": -0.014334993436932564
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.731217622756958,
                "transform": {
                    "location": {
                        "x": -2499.028076171875,
                        "y": 5205.6201171875,
                        "z": 378.60986328125
                    },
                    "rotation": {
                        "roll": 0.0013355137780308723,
                        "pitch": 0.09274030476808548,
                        "yaw": -90.04972839355469
                    }
                },
                "velocity": {
                    "x": -0.00195896765217185,
                    "y": -2.731189012527466,
                    "z": -0.012354621663689613
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.477539300918579,
                "transform": {
                    "location": {
                        "x": -2499.021240234375,
                        "y": 5217.16064453125,
                        "z": 378.6365966796875
                    },
                    "rotation": {
                        "roll": 0.00037595475441776216,
                        "pitch": -0.1249992847442627,
                        "yaw": -89.99473571777344
                    }
                },
                "velocity": {
                    "x": -0.0019533957820385695,
                    "y": -3.4775242805480957,
                    "z": -0.010039939545094967
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.600156784057617,
                "transform": {
                    "location": {
                        "x": -2502.4248046875,
                        "y": 5213.62255859375,
                        "z": 378.6214294433594
                    },
                    "rotation": {
                        "roll": -0.0005493183853104711,
                        "pitch": -0.14519615471363068,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": -0.006246230565011501,
                    "y": -9.600119590759277,
                    "z": -0.02618081495165825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.04659652709961,
                "transform": {
                    "location": {
                        "x": -2502.43505859375,
                        "y": 5193.876953125,
                        "z": 378.5723876953125
                    },
                    "rotation": {
                        "roll": -0.00021362403640523553,
                        "pitch": -0.1290564239025116,
                        "yaw": -90.03160095214844
                    }
                },
                "velocity": {
                    "x": -0.004944053944200277,
                    "y": -9.046533584594727,
                    "z": -0.03344191983342171
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076437950134277,
                "transform": {
                    "location": {
                        "x": -2502.4541015625,
                        "y": 5166.14990234375,
                        "z": 378.4394836425781
                    },
                    "rotation": {
                        "roll": 0.00010293488594470546,
                        "pitch": -0.33926230669021606,
                        "yaw": -90.04027557373047
                    }
                },
                "velocity": {
                    "x": -0.005694116000086069,
                    "y": -8.076303482055664,
                    "z": -0.04628946632146835
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039921760559082,
                "transform": {
                    "location": {
                        "x": -2502.416748046875,
                        "y": 5147.1181640625,
                        "z": 378.32244873046875
                    },
                    "rotation": {
                        "roll": 6.267432763706893e-05,
                        "pitch": -0.4587633013725281,
                        "yaw": -89.60906982421875
                    }
                },
                "velocity": {
                    "x": 0.05946648120880127,
                    "y": -8.039445877075195,
                    "z": -0.06415131688117981
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.03989315032959,
                "transform": {
                    "location": {
                        "x": -2505.92724609375,
                        "y": 5208.568359375,
                        "z": 378.61322021484375
                    },
                    "rotation": {
                        "roll": 0.00017679457960184664,
                        "pitch": -0.05700475722551346,
                        "yaw": -90.03997802734375
                    }
                },
                "velocity": {
                    "x": -0.006228757556527853,
                    "y": -9.039849281311035,
                    "z": -0.02760307304561138
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.20409107208252,
                "transform": {
                    "location": {
                        "x": -2505.939208984375,
                        "y": 5190.41064453125,
                        "z": 378.557373046875
                    },
                    "rotation": {
                        "roll": -0.0008850107551552355,
                        "pitch": -0.24001966416835785,
                        "yaw": -90.02381134033203
                    }
                },
                "velocity": {
                    "x": -0.0043362583965063095,
                    "y": -8.2040376663208,
                    "z": -0.029264092445373535
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011412620544434,
                "transform": {
                    "location": {
                        "x": -2505.95068359375,
                        "y": 5172.09375,
                        "z": 378.51611328125
                    },
                    "rotation": {
                        "roll": 0.00037030241219326854,
                        "pitch": -0.29162174463272095,
                        "yaw": -90.0367431640625
                    }
                },
                "velocity": {
                    "x": -0.005100244656205177,
                    "y": -8.011310577392578,
                    "z": -0.040215082466602325
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.782553672790527,
                "transform": {
                    "location": {
                        "x": -2505.9541015625,
                        "y": 5153.2216796875,
                        "z": 378.359375
                    },
                    "rotation": {
                        "roll": -0.0011291629634797573,
                        "pitch": -0.4449458122253418,
                        "yaw": -89.89232635498047
                    }
                },
                "velocity": {
                    "x": 0.02161910943686962,
                    "y": -6.782342433929443,
                    "z": -0.04898938909173012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0030665455851703882,
        "expert_target_speed": 6.007011946913854,
        "target_point": [
            41.294489713641156,
            0.721031903535615
        ],
        "target_point_next": [
            51.4898753420079,
            1.128637296787887
        ]
    },
    "180": {
        "acceleration": [
            0.11520206928253174,
            4.700860977172852,
            0.03429938107728958
        ],
        "angular_velocity": [
            0.6105448007583618,
            -0.11047003418207169,
            2.793977975845337
        ],
        "forward_vector": [
            -0.014005198143422604,
            -0.9997963309288025,
            -0.014531338587403297
        ],
        "right_vector": [
            0.9999018311500549,
            -0.013997375033795834,
            -0.0006399624398909509
        ],
        "location": [
            -2502.544677734375,
            5172.26318359375,
            378.4804992675781
        ],
        "rotation": [
            0.036671023815870285,
            -0.8326136469841003,
            -90.80255126953125
        ],
        "velocity": [
            -0.09804795682430267,
            -5.768134117126465,
            -0.029466452077031136
        ],
        "speed": 5.768967376835799,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.1266450881958,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.454833984375,
                5164.13720703125,
                378.42767333984375
            ],
            "velocity": [
                -0.00552749540656805,
                -8.024514198303223,
                -0.04846595972776413
            ],
            "speed_kmh": 28.88878486144948,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3726,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.949462890625,
                        "y": 4940.9609375,
                        "z": 375.8531494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.95361328125,
                        "y": 4965.9736328125,
                        "z": 376.19256591796875
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.573486328125,
                        "y": 4990.75341796875,
                        "z": 376.46087646484375
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.495361328125,
                        "y": 5010.38330078125,
                        "z": 376.64801025390625
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.9482421875,
                        "y": 5036.1689453125,
                        "z": 376.93701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7066649794578552,
                        "yaw": -83.15172576904297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.618896484375,
                        "y": 5050.9970703125,
                        "z": 377.1253356933594
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.0634765625,
                        "y": 5065.794921875,
                        "z": 377.3194580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.289794921875,
                        "y": 5080.6630859375,
                        "z": 377.5244140625
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.1083984375,
                        "y": 5092.53125,
                        "z": 377.69482421875
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.183615207672119,
                "transform": {
                    "location": {
                        "x": -2498.43994140625,
                        "y": 5119.84423828125,
                        "z": 378.0621337890625
                    },
                    "rotation": {
                        "roll": 0.001065093674696982,
                        "pitch": -0.7496883273124695,
                        "yaw": -87.95114135742188
                    }
                },
                "velocity": {
                    "x": 0.19786351919174194,
                    "y": -5.179502487182617,
                    "z": -0.0589122511446476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.080901622772217,
                "transform": {
                    "location": {
                        "x": -2498.83154296875,
                        "y": 5133.6904296875,
                        "z": 378.19073486328125
                    },
                    "rotation": {
                        "roll": -0.00231932383030653,
                        "pitch": -0.459466814994812,
                        "yaw": -88.5850830078125
                    }
                },
                "velocity": {
                    "x": 0.11981268972158432,
                    "y": -5.079259395599365,
                    "z": -0.04828031733632088
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.389331817626953,
                "transform": {
                    "location": {
                        "x": -2499.054931640625,
                        "y": 5165.9599609375,
                        "z": 378.4436950683594
                    },
                    "rotation": {
                        "roll": 0.0004284008464310318,
                        "pitch": -0.3175969421863556,
                        "yaw": -90.04553985595703
                    }
                },
                "velocity": {
                    "x": -0.003436115337535739,
                    "y": -4.389256000518799,
                    "z": -0.025596221908926964
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.2249040603637695,
                "transform": {
                    "location": {
                        "x": -2499.044921875,
                        "y": 5181.732421875,
                        "z": 378.5174560546875
                    },
                    "rotation": {
                        "roll": -0.0007934517925605178,
                        "pitch": 0.3633387088775635,
                        "yaw": -90.04966735839844
                    }
                },
                "velocity": {
                    "x": -0.003263110527768731,
                    "y": -5.2248759269714355,
                    "z": -0.01688455604016781
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.796335697174072,
                "transform": {
                    "location": {
                        "x": -2499.029052734375,
                        "y": 5204.658203125,
                        "z": 378.60565185546875
                    },
                    "rotation": {
                        "roll": 0.0006796385860070586,
                        "pitch": 0.2802084982395172,
                        "yaw": -90.05040740966797
                    }
                },
                "velocity": {
                    "x": -0.0041919187642633915,
                    "y": -4.796321392059326,
                    "z": -0.011000394821166992
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.006035804748535,
                "transform": {
                    "location": {
                        "x": -2499.02197265625,
                        "y": 5216.2099609375,
                        "z": 378.6340637207031
                    },
                    "rotation": {
                        "roll": 0.0005252924165688455,
                        "pitch": -0.139219731092453,
                        "yaw": -90.01102447509766
                    }
                },
                "velocity": {
                    "x": -0.002106040483340621,
                    "y": -4.006022930145264,
                    "z": -0.010079688392579556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.387667655944824,
                "transform": {
                    "location": {
                        "x": -2502.426513671875,
                        "y": 5211.28955078125,
                        "z": 378.6150207519531
                    },
                    "rotation": {
                        "roll": -9.155429142992944e-05,
                        "pitch": -0.17113721370697021,
                        "yaw": -90.03241729736328
                    }
                },
                "velocity": {
                    "x": -0.005091316532343626,
                    "y": -9.387630462646484,
                    "z": -0.026015205308794975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.418238162994385,
                "transform": {
                    "location": {
                        "x": -2502.4365234375,
                        "y": 5191.7646484375,
                        "z": 378.5641174316406
                    },
                    "rotation": {
                        "roll": -0.0003662106755655259,
                        "pitch": -0.05330962315201759,
                        "yaw": -90.02685546875
                    }
                },
                "velocity": {
                    "x": -0.00546716433018446,
                    "y": -7.418181419372559,
                    "z": -0.02853759191930294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024662971496582,
                "transform": {
                    "location": {
                        "x": -2502.454833984375,
                        "y": 5164.13720703125,
                        "z": 378.42767333984375
                    },
                    "rotation": {
                        "roll": 0.001960084540769458,
                        "pitch": -0.3361818790435791,
                        "yaw": -90.04037475585938
                    }
                },
                "velocity": {
                    "x": -0.00552749540656805,
                    "y": -8.024514198303223,
                    "z": -0.04846595972776413
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039204597473145,
                "transform": {
                    "location": {
                        "x": -2502.39990234375,
                        "y": 5145.1083984375,
                        "z": 378.3061218261719
                    },
                    "rotation": {
                        "roll": 0.008862548507750034,
                        "pitch": -0.46999895572662354,
                        "yaw": -89.48602294921875
                    }
                },
                "velocity": {
                    "x": 0.09368162602186203,
                    "y": -8.038399696350098,
                    "z": -0.06454426795244217
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.537500858306885,
                "transform": {
                    "location": {
                        "x": -2505.927978515625,
                        "y": 5206.4912109375,
                        "z": 378.60882568359375
                    },
                    "rotation": {
                        "roll": -3.052394822589122e-05,
                        "pitch": -0.5754433870315552,
                        "yaw": -90.0365219116211
                    }
                },
                "velocity": {
                    "x": -0.0047725411131978035,
                    "y": -7.537461757659912,
                    "z": -0.023754196241497993
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021483421325684,
                "transform": {
                    "location": {
                        "x": -2505.940185546875,
                        "y": 5188.41162109375,
                        "z": 378.5499267578125
                    },
                    "rotation": {
                        "roll": 1.566156242915895e-05,
                        "pitch": -0.25369369983673096,
                        "yaw": -90.04753875732422
                    }
                },
                "velocity": {
                    "x": -0.005804157350212336,
                    "y": -8.0214262008667,
                    "z": -0.02990175597369671
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.048325538635254,
                "transform": {
                    "location": {
                        "x": -2505.95166015625,
                        "y": 5170.08642578125,
                        "z": 378.5059814453125
                    },
                    "rotation": {
                        "roll": 0.0005797595949843526,
                        "pitch": -0.28735285997390747,
                        "yaw": -90.03607177734375
                    }
                },
                "velocity": {
                    "x": -0.00498991971835494,
                    "y": -8.048216819763184,
                    "z": -0.041543517261743546
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.540336608886719,
                "transform": {
                    "location": {
                        "x": -2505.948486328125,
                        "y": 5151.44091796875,
                        "z": 378.34564208984375
                    },
                    "rotation": {
                        "roll": -0.0019530984573066235,
                        "pitch": -0.41500911116600037,
                        "yaw": -89.79598999023438
                    }
                },
                "velocity": {
                    "x": 0.029328536242246628,
                    "y": -7.5400567054748535,
                    "z": -0.058000944554805756
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.026724645867943764,
        "expert_target_speed": 5.18192143107518,
        "target_point": [
            39.65111140118678,
            0.7840020059315085
        ],
        "target_point_next": [
            49.84590552687258,
            1.2061429807229536
        ]
    },
    "185": {
        "acceleration": [
            0.023094117641448975,
            0.6657981872558594,
            0.012013502418994904
        ],
        "angular_velocity": [
            -1.1281371116638184,
            -0.131978377699852,
            -3.6185598373413086
        ],
        "forward_vector": [
            -0.015977680683135986,
            -0.9998040199279785,
            -0.011687845923006535
        ],
        "right_vector": [
            0.9998723864555359,
            -0.0159761905670166,
            -0.00022084264492150396
        ],
        "location": [
            -2502.56689453125,
            5170.8994140625,
            378.4729919433594
        ],
        "rotation": [
            0.012654216028749943,
            -0.6696795225143433,
            -90.91555786132812
        ],
        "velocity": [
            -0.08681035786867142,
            -5.290008544921875,
            -0.02748139388859272
        ],
        "speed": 5.29072078677185,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.775790214538574,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.4560546875,
                5162.12451171875,
                378.41558837890625
            ],
            "velocity": [
                -0.007483383174985647,
                -8.077723503112793,
                -0.05324890464544296
            ],
            "speed_kmh": 29.08044891980439,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3726,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.6904296875,
                        "y": 4938.474609375,
                        "z": 375.81768798828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.621337890625,
                        "y": 4963.49560546875,
                        "z": 376.1618347167969
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.20458984375,
                        "y": 4988.27978515625,
                        "z": 376.4372863769531
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.130126953125,
                        "y": 5007.90966796875,
                        "z": 376.6236572265625
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.6435546875,
                        "y": 5033.6884765625,
                        "z": 376.9065246582031
                    },
                    "rotation": {
                        "roll": -2.6682299036906443e-08,
                        "pitch": -0.6788319945335388,
                        "yaw": -82.86524200439453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.3544921875,
                        "y": 5048.51220703125,
                        "z": 377.0936584472656
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.83642578125,
                        "y": 5063.3076171875,
                        "z": 377.2861633300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.100341796875,
                        "y": 5078.173828125,
                        "z": 377.4894104003906
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.947021484375,
                        "y": 5090.03955078125,
                        "z": 377.65863037109375
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.76859712600708,
                "transform": {
                    "location": {
                        "x": -2498.388427734375,
                        "y": 5118.48681640625,
                        "z": 378.0461120605469
                    },
                    "rotation": {
                        "roll": 0.0015486571937799454,
                        "pitch": -0.7289109230041504,
                        "yaw": -87.91180419921875
                    }
                },
                "velocity": {
                    "x": 0.22076784074306488,
                    "y": -5.763983726501465,
                    "z": -0.06684178113937378
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.151507377624512,
                "transform": {
                    "location": {
                        "x": -2498.795166015625,
                        "y": 5132.18701171875,
                        "z": 378.1761779785156
                    },
                    "rotation": {
                        "roll": 8.048355084611103e-05,
                        "pitch": -0.40856823325157166,
                        "yaw": -88.65591430664062
                    }
                },
                "velocity": {
                    "x": 0.16894088685512543,
                    "y": -7.1491923332214355,
                    "z": -0.06756725907325745
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.190297603607178,
                "transform": {
                    "location": {
                        "x": -2499.05615234375,
                        "y": 5164.7607421875,
                        "z": 378.43695068359375
                    },
                    "rotation": {
                        "roll": -0.0005798412021249533,
                        "pitch": -0.3164631426334381,
                        "yaw": -90.04491424560547
                    }
                },
                "velocity": {
                    "x": -0.004151365254074335,
                    "y": -5.190223217010498,
                    "z": -0.027476051822304726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.354587078094482,
                "transform": {
                    "location": {
                        "x": -2499.0458984375,
                        "y": 5180.39501953125,
                        "z": 378.5133056640625
                    },
                    "rotation": {
                        "roll": -0.0009765607537701726,
                        "pitch": 0.05826834216713905,
                        "yaw": -90.03848266601562
                    }
                },
                "velocity": {
                    "x": -0.003646879456937313,
                    "y": -5.3545427322387695,
                    "z": -0.02147047035396099
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.701968193054199,
                "transform": {
                    "location": {
                        "x": -2499.030029296875,
                        "y": 5203.32763671875,
                        "z": 378.6039733886719
                    },
                    "rotation": {
                        "roll": -0.0005798328784294426,
                        "pitch": 0.07681913673877716,
                        "yaw": -90.05978393554688
                    }
                },
                "velocity": {
                    "x": -0.00436824094504118,
                    "y": -5.701940059661865,
                    "z": -0.017477894201874733
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.6129889488220215,
                "transform": {
                    "location": {
                        "x": -2499.022705078125,
                        "y": 5215.13623046875,
                        "z": 378.6312561035156
                    },
                    "rotation": {
                        "roll": 0.0006167800165712833,
                        "pitch": -0.14538057148456573,
                        "yaw": -90.01947021484375
                    }
                },
                "velocity": {
                    "x": -0.002669169567525387,
                    "y": -4.612972736358643,
                    "z": -0.011939267627894878
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.228568077087402,
                "transform": {
                    "location": {
                        "x": -2502.427490234375,
                        "y": 5208.91015625,
                        "z": 378.6081237792969
                    },
                    "rotation": {
                        "roll": 0.0008185795159079134,
                        "pitch": -0.17990034818649292,
                        "yaw": -90.02669525146484
                    }
                },
                "velocity": {
                    "x": -0.004328560549765825,
                    "y": -9.228519439697266,
                    "z": -0.029638037085533142
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.167359828948975,
                "transform": {
                    "location": {
                        "x": -2502.4375,
                        "y": 5189.974609375,
                        "z": 378.5581970214844
                    },
                    "rotation": {
                        "roll": -6.103169289417565e-05,
                        "pitch": -0.15261374413967133,
                        "yaw": -90.06182861328125
                    }
                },
                "velocity": {
                    "x": -0.0069219390861690044,
                    "y": -7.16731071472168,
                    "z": -0.02564656175673008
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077902793884277,
                "transform": {
                    "location": {
                        "x": -2502.4560546875,
                        "y": 5162.12451171875,
                        "z": 378.41558837890625
                    },
                    "rotation": {
                        "roll": 0.0003077377041336149,
                        "pitch": -0.34799128770828247,
                        "yaw": -90.04227447509766
                    }
                },
                "velocity": {
                    "x": -0.007483383174985647,
                    "y": -8.077723503112793,
                    "z": -0.05324890464544296
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040678024291992,
                "transform": {
                    "location": {
                        "x": -2502.376708984375,
                        "y": 5143.0986328125,
                        "z": 378.28961181640625
                    },
                    "rotation": {
                        "roll": 0.0037056095898151398,
                        "pitch": -0.47207534313201904,
                        "yaw": -89.37456512451172
                    }
                },
                "velocity": {
                    "x": 0.09780222922563553,
                    "y": -8.039807319641113,
                    "z": -0.06655803322792053
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.155043125152588,
                "transform": {
                    "location": {
                        "x": -2505.928955078125,
                        "y": 5204.69091796875,
                        "z": 378.6028137207031
                    },
                    "rotation": {
                        "roll": 0.000351634225808084,
                        "pitch": -0.49063295125961304,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": -0.004610542673617601,
                    "y": -7.155010223388672,
                    "z": -0.021226849406957626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.470309257507324,
                "transform": {
                    "location": {
                        "x": -2505.94140625,
                        "y": 5186.322265625,
                        "z": 378.5421447753906
                    },
                    "rotation": {
                        "roll": 0.0007731615914963186,
                        "pitch": -0.15655475854873657,
                        "yaw": -90.02597045898438
                    }
                },
                "velocity": {
                    "x": -0.005568508990108967,
                    "y": -8.470243453979492,
                    "z": -0.03275826945900917
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.013484001159668,
                "transform": {
                    "location": {
                        "x": -2505.95263671875,
                        "y": 5168.0791015625,
                        "z": 378.4952697753906
                    },
                    "rotation": {
                        "roll": -0.0008545067394152284,
                        "pitch": -0.3136627674102783,
                        "yaw": -90.03587341308594
                    }
                },
                "velocity": {
                    "x": -0.005093297455459833,
                    "y": -8.013360023498535,
                    "z": -0.04427801072597504
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.580327033996582,
                "transform": {
                    "location": {
                        "x": -2505.939453125,
                        "y": 5149.46240234375,
                        "z": 378.33038330078125
                    },
                    "rotation": {
                        "roll": -0.0017394780879840255,
                        "pitch": -0.4247762858867645,
                        "yaw": -89.6492919921875
                    }
                },
                "velocity": {
                    "x": 0.05718941241502762,
                    "y": -8.579877853393555,
                    "z": -0.06659800559282303
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.19914668798446655,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0537697970867157,
        "expert_target_speed": 5.21572819352386,
        "target_point": [
            38.28553807522371,
            0.8626037932350614
        ],
        "target_point_next": [
            48.47948003987572,
            1.304845230712797
        ]
    },
    "190": {
        "acceleration": [
            -0.23859992623329163,
            -11.487302780151367,
            -0.06510015577077866
        ],
        "angular_velocity": [
            -3.1357474327087402,
            0.11624321341514587,
            0.518230140209198
        ],
        "forward_vector": [
            -0.016678886488080025,
            -0.9998449087142944,
            -0.005656569730490446
        ],
        "right_vector": [
            0.9998608827590942,
            -0.016678523272275925,
            -0.00011132098734378815
        ],
        "location": [
            -2502.58837890625,
            5169.5517578125,
            378.4648742675781
        ],
        "rotation": [
            0.006378324702382088,
            -0.3240993022918701,
            -90.9556884765625
        ],
        "velocity": [
            -0.09610865265130997,
            -5.8930888175964355,
            -0.02884954772889614
        ],
        "speed": 5.893872469369744,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.440564155578613,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.45751953125,
                5160.1123046875,
                378.4028015136719
            ],
            "velocity": [
                -0.0011533629149198532,
                -8.023816108703613,
                -0.052870266139507294
            ],
            "speed_kmh": 28.886365350782146,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3726,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.444580078125,
                        "y": 4935.98681640625,
                        "z": 375.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.29638671875,
                        "y": 4961.017578125,
                        "z": 376.1302795410156
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.8359375,
                        "y": 4985.8056640625,
                        "z": 376.4129943847656
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.76220703125,
                        "y": 5005.43603515625,
                        "z": 376.59991455078125
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.337646484375,
                        "y": 5031.2080078125,
                        "z": 376.8762512207031
                    },
                    "rotation": {
                        "roll": -2.6682299036906443e-08,
                        "pitch": -0.6788319945335388,
                        "yaw": -82.86524200439453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.083740234375,
                        "y": 5046.02783203125,
                        "z": 377.06201171875
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.60302734375,
                        "y": 5060.8203125,
                        "z": 377.25311279296875
                    },
                    "rotation": {
                        "roll": 2.6682641873776447e-08,
                        "pitch": -0.7387053966522217,
                        "yaw": -84.35952758789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.904296875,
                        "y": 5075.68310546875,
                        "z": 377.45465087890625
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.7822265625,
                        "y": 5087.546875,
                        "z": 377.6224670410156
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.980864524841309,
                "transform": {
                    "location": {
                        "x": -2498.330810546875,
                        "y": 5116.9638671875,
                        "z": 378.02874755859375
                    },
                    "rotation": {
                        "roll": 0.001971392659470439,
                        "pitch": -0.794521689414978,
                        "yaw": -87.84072875976562
                    }
                },
                "velocity": {
                    "x": 0.2641206979751587,
                    "y": -6.975371360778809,
                    "z": -0.08309555053710938
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.783389568328857,
                "transform": {
                    "location": {
                        "x": -2498.751220703125,
                        "y": 5130.41064453125,
                        "z": 378.1595153808594
                    },
                    "rotation": {
                        "roll": -0.0032653578091412783,
                        "pitch": -0.5563598871231079,
                        "yaw": -88.57295989990234
                    }
                },
                "velocity": {
                    "x": 0.18261897563934326,
                    "y": -6.780587196350098,
                    "z": -0.06827264279127121
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.767937660217285,
                "transform": {
                    "location": {
                        "x": -2499.056884765625,
                        "y": 5163.3935546875,
                        "z": 378.4289855957031
                    },
                    "rotation": {
                        "roll": 0.0012457683915272355,
                        "pitch": -0.31927716732025146,
                        "yaw": -90.14266967773438
                    }
                },
                "velocity": {
                    "x": -0.008809574879705906,
                    "y": -5.76783561706543,
                    "z": -0.03315727785229683
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.13710880279541,
                "transform": {
                    "location": {
                        "x": -2499.046875,
                        "y": 5178.80517578125,
                        "z": 378.505859375
                    },
                    "rotation": {
                        "roll": 0.0002590038056951016,
                        "pitch": 0.30068540573120117,
                        "yaw": -90.03691864013672
                    }
                },
                "velocity": {
                    "x": -0.00461072800680995,
                    "y": -7.137044906616211,
                    "z": -0.029876351356506348
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.79099702835083,
                "transform": {
                    "location": {
                        "x": -2499.031494140625,
                        "y": 5201.603515625,
                        "z": 378.59710693359375
                    },
                    "rotation": {
                        "roll": 0.0010440520709380507,
                        "pitch": 0.2101649045944214,
                        "yaw": -90.11888122558594
                    }
                },
                "velocity": {
                    "x": -0.009007721208035946,
                    "y": -7.790948390960693,
                    "z": -0.026124948635697365
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2434186935424805,
                "transform": {
                    "location": {
                        "x": -2499.023681640625,
                        "y": 5213.88818359375,
                        "z": 378.6280822753906
                    },
                    "rotation": {
                        "roll": 0.0004624733701348305,
                        "pitch": -0.14797604084014893,
                        "yaw": -90.0249252319336
                    }
                },
                "velocity": {
                    "x": -0.0023507224395871162,
                    "y": -5.243398189544678,
                    "z": -0.014393395744264126
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.963015556335449,
                "transform": {
                    "location": {
                        "x": -2502.4287109375,
                        "y": 5206.7822265625,
                        "z": 378.60205078125
                    },
                    "rotation": {
                        "roll": -0.00024415485677309334,
                        "pitch": -0.24881011247634888,
                        "yaw": -90.03515625
                    }
                },
                "velocity": {
                    "x": -0.005006337538361549,
                    "y": -7.962974548339844,
                    "z": -0.025057639926671982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.854638576507568,
                "transform": {
                    "location": {
                        "x": -2502.439208984375,
                        "y": 5188.10498046875,
                        "z": 378.55224609375
                    },
                    "rotation": {
                        "roll": 0.00031842096359468997,
                        "pitch": -0.266356885433197,
                        "yaw": -90.02458953857422
                    }
                },
                "velocity": {
                    "x": -0.004411016125231981,
                    "y": -7.854584217071533,
                    "z": -0.028999418020248413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0239896774292,
                "transform": {
                    "location": {
                        "x": -2502.45751953125,
                        "y": 5160.1123046875,
                        "z": 378.4028015136719
                    },
                    "rotation": {
                        "roll": -0.002594009507447481,
                        "pitch": -0.3851953148841858,
                        "yaw": -90.03485107421875
                    }
                },
                "velocity": {
                    "x": -0.0011533629149198532,
                    "y": -8.023816108703613,
                    "z": -0.052870266139507294
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040736198425293,
                "transform": {
                    "location": {
                        "x": -2502.3525390625,
                        "y": 5141.0888671875,
                        "z": 378.27252197265625
                    },
                    "rotation": {
                        "roll": 0.0016401854809373617,
                        "pitch": -0.48882293701171875,
                        "yaw": -89.28480529785156
                    }
                },
                "velocity": {
                    "x": 0.10155212879180908,
                    "y": -8.039803504943848,
                    "z": -0.06841056793928146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.09537124633789,
                "transform": {
                    "location": {
                        "x": -2505.93017578125,
                        "y": 5202.79296875,
                        "z": 378.59515380859375
                    },
                    "rotation": {
                        "roll": -6.103483974584378e-05,
                        "pitch": -0.05944996327161789,
                        "yaw": -90.03678131103516
                    }
                },
                "velocity": {
                    "x": -0.0052410936914384365,
                    "y": -8.095328330993652,
                    "z": -0.025719713419675827
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.010730743408203,
                "transform": {
                    "location": {
                        "x": -2505.9423828125,
                        "y": 5184.24169921875,
                        "z": 378.5341796875
                    },
                    "rotation": {
                        "roll": 0.00035897601628676057,
                        "pitch": -0.27914297580718994,
                        "yaw": -90.04824829101562
                    }
                },
                "velocity": {
                    "x": -0.004800423048436642,
                    "y": -8.010672569274902,
                    "z": -0.030205177143216133
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04819393157959,
                "transform": {
                    "location": {
                        "x": -2505.95361328125,
                        "y": 5166.0712890625,
                        "z": 378.4840393066406
                    },
                    "rotation": {
                        "roll": 0.0006824972806498408,
                        "pitch": -0.339692622423172,
                        "yaw": -90.03580474853516
                    }
                },
                "velocity": {
                    "x": -0.005021011922508478,
                    "y": -8.048059463500977,
                    "z": -0.0463065430521965
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.44256591796875,
                "transform": {
                    "location": {
                        "x": -2505.925048828125,
                        "y": 5147.296875,
                        "z": 378.3133544921875
                    },
                    "rotation": {
                        "roll": -0.0022887985687702894,
                        "pitch": -0.4533674418926239,
                        "yaw": -89.48184204101562
                    }
                },
                "velocity": {
                    "x": 0.0668502226471901,
                    "y": -8.442025184631348,
                    "z": -0.06823146343231201
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.8509550094604492,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07220955938100815,
        "expert_target_speed": 5.996509452555882,
        "target_point": [
            36.93709690467152,
            0.8884426419558625
        ],
        "target_point_next": [
            47.13072637563429,
            1.337829420171285
        ]
    },
    "195": {
        "acceleration": [
            -0.04898935556411743,
            -4.365997314453125,
            -0.023501962423324585
        ],
        "angular_velocity": [
            -0.4223201274871826,
            0.0794336125254631,
            -2.371999740600586
        ],
        "forward_vector": [
            -0.016894284635782242,
            -0.9998566508293152,
            0.0011554952943697572
        ],
        "right_vector": [
            0.9998573064804077,
            -0.016894469037652016,
            -0.0001503310486441478
        ],
        "location": [
            -2502.6162109375,
            5167.884765625,
            378.4543762207031
        ],
        "rotation": [
            0.008613340556621552,
            0.06620501726865768,
            -90.968017578125
        ],
        "velocity": [
            -0.11912552267313004,
            -7.183772563934326,
            -0.03914724290370941
        ],
        "speed": 7.184760200625189,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.786659240722656,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.45751953125,
                5158.099609375,
                378.3893127441406
            ],
            "velocity": [
                0.0025109979324042797,
                -8.077483177185059,
                -0.052991073578596115
            ],
            "speed_kmh": 29.07956658761606,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3726,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.2001953125,
                        "y": 4933.49853515625,
                        "z": 375.74505615234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.97900390625,
                        "y": 4958.537109375,
                        "z": 376.0979919433594
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.467041015625,
                        "y": 4983.33154296875,
                        "z": 376.3880310058594
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.393310546875,
                        "y": 5002.9619140625,
                        "z": 376.57647705078125
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.02001953125,
                        "y": 5028.7275390625,
                        "z": 376.84698486328125
                    },
                    "rotation": {
                        "roll": 2.6682148046575094e-08,
                        "pitch": -0.6509989500045776,
                        "yaw": -82.57874298095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.806396484375,
                        "y": 5043.5419921875,
                        "z": 377.03045654296875
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.36328125,
                        "y": 5058.33154296875,
                        "z": 377.2203369140625
                    },
                    "rotation": {
                        "roll": 2.6682641873776447e-08,
                        "pitch": -0.7387053966522217,
                        "yaw": -84.35952758789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.701904296875,
                        "y": 5073.1923828125,
                        "z": 377.4201965332031
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.6083984375,
                        "y": 5085.0546875,
                        "z": 377.5868225097656
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.217696189880371,
                "transform": {
                    "location": {
                        "x": -2498.253662109375,
                        "y": 5115.04443359375,
                        "z": 378.0059814453125
                    },
                    "rotation": {
                        "roll": 0.005703249480575323,
                        "pitch": -0.8138101696968079,
                        "yaw": -87.67842864990234
                    }
                },
                "velocity": {
                    "x": 0.3479473292827606,
                    "y": -8.209712982177734,
                    "z": -0.1003592312335968
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.340466022491455,
                "transform": {
                    "location": {
                        "x": -2498.7080078125,
                        "y": 5128.806640625,
                        "z": 378.14361572265625
                    },
                    "rotation": {
                        "roll": -0.0016479822807013988,
                        "pitch": -0.6072652339935303,
                        "yaw": -88.46819305419922
                    }
                },
                "velocity": {
                    "x": 0.17426323890686035,
                    "y": -6.337733745574951,
                    "z": -0.06533613801002502
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.399045944213867,
                "transform": {
                    "location": {
                        "x": -2499.058837890625,
                        "y": 5161.84130859375,
                        "z": 378.41937255859375
                    },
                    "rotation": {
                        "roll": 0.0011187969939783216,
                        "pitch": -0.34366095066070557,
                        "yaw": -90.09558868408203
                    }
                },
                "velocity": {
                    "x": -0.004888852126896381,
                    "y": -6.398910999298096,
                    "z": -0.0413048081099987
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00813102722168,
                "transform": {
                    "location": {
                        "x": -2499.0478515625,
                        "y": 5176.859375,
                        "z": 378.4977722167969
                    },
                    "rotation": {
                        "roll": 0.0003399256384000182,
                        "pitch": 0.266356885433197,
                        "yaw": -90.03632354736328
                    }
                },
                "velocity": {
                    "x": -0.005085126031190157,
                    "y": -8.008060455322266,
                    "z": -0.033231087028980255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.97963809967041,
                "transform": {
                    "location": {
                        "x": -2499.033447265625,
                        "y": 5199.56640625,
                        "z": 378.5910949707031
                    },
                    "rotation": {
                        "roll": -0.00027465203311294317,
                        "pitch": 0.1012917011976242,
                        "yaw": -90.13948822021484
                    }
                },
                "velocity": {
                    "x": -0.008813559077680111,
                    "y": -8.979583740234375,
                    "z": -0.029926856979727745
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.965688228607178,
                "transform": {
                    "location": {
                        "x": -2499.024658203125,
                        "y": 5212.50537109375,
                        "z": 378.6240539550781
                    },
                    "rotation": {
                        "roll": 0.00024273261078633368,
                        "pitch": -0.14480683207511902,
                        "yaw": -90.03402709960938
                    }
                },
                "velocity": {
                    "x": -0.0036535575054585934,
                    "y": -5.965662479400635,
                    "z": -0.017099227756261826
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.178040504455566,
                "transform": {
                    "location": {
                        "x": -2502.4296875,
                        "y": 5204.79541015625,
                        "z": 378.5953674316406
                    },
                    "rotation": {
                        "roll": -0.00030517225968651474,
                        "pitch": -0.1835954785346985,
                        "yaw": -90.0357437133789
                    }
                },
                "velocity": {
                    "x": -0.005280521232634783,
                    "y": -8.177997589111328,
                    "z": -0.025844477117061615
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.386441230773926,
                "transform": {
                    "location": {
                        "x": -2502.44091796875,
                        "y": 5186.0146484375,
                        "z": 378.54510498046875
                    },
                    "rotation": {
                        "roll": -0.0006714134942740202,
                        "pitch": -0.36956101655960083,
                        "yaw": -90.02288818359375
                    }
                },
                "velocity": {
                    "x": -0.006664755288511515,
                    "y": -9.386373519897461,
                    "z": -0.034833874553442
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077657699584961,
                "transform": {
                    "location": {
                        "x": -2502.45751953125,
                        "y": 5158.099609375,
                        "z": 378.3893127441406
                    },
                    "rotation": {
                        "roll": -0.0005493222270160913,
                        "pitch": -0.3835150897502899,
                        "yaw": -89.99877166748047
                    }
                },
                "velocity": {
                    "x": 0.0025109979324042797,
                    "y": -8.077483177185059,
                    "z": -0.052991073578596115
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039338111877441,
                "transform": {
                    "location": {
                        "x": -2502.3212890625,
                        "y": 5139.0791015625,
                        "z": 378.25531005859375
                    },
                    "rotation": {
                        "roll": 0.005101139657199383,
                        "pitch": -0.49324890971183777,
                        "yaw": -89.14382934570312
                    }
                },
                "velocity": {
                    "x": 0.13490934669971466,
                    "y": -8.037908554077148,
                    "z": -0.06915219128131866
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.155804634094238,
                "transform": {
                    "location": {
                        "x": -2505.93115234375,
                        "y": 5200.6708984375,
                        "z": 378.58740234375
                    },
                    "rotation": {
                        "roll": 0.000830731529276818,
                        "pitch": 0.15727192163467407,
                        "yaw": -90.03619384765625
                    }
                },
                "velocity": {
                    "x": -0.005795935168862343,
                    "y": -9.155753135681152,
                    "z": -0.03039187379181385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.463700294494629,
                "transform": {
                    "location": {
                        "x": -2505.943603515625,
                        "y": 5182.3271484375,
                        "z": 378.52691650390625
                    },
                    "rotation": {
                        "roll": 0.00018826007726602256,
                        "pitch": -0.3234572410583496,
                        "yaw": -90.02615356445312
                    }
                },
                "velocity": {
                    "x": -0.005219623912125826,
                    "y": -7.463639259338379,
                    "z": -0.02984107844531536
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.013039588928223,
                "transform": {
                    "location": {
                        "x": -2505.954833984375,
                        "y": 5164.06396484375,
                        "z": 378.4723205566406
                    },
                    "rotation": {
                        "roll": 0.000961939396802336,
                        "pitch": -0.33700835704803467,
                        "yaw": -90.04149627685547
                    }
                },
                "velocity": {
                    "x": -0.007193543948233128,
                    "y": -8.01289176940918,
                    "z": -0.0481354258954525
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.096841812133789,
                "transform": {
                    "location": {
                        "x": -2505.9072265625,
                        "y": 5145.23681640625,
                        "z": 378.2969055175781
                    },
                    "rotation": {
                        "roll": -0.0018920827424153686,
                        "pitch": -0.48305827379226685,
                        "yaw": -89.43460083007812
                    }
                },
                "velocity": {
                    "x": 0.08296278119087219,
                    "y": -8.096137046813965,
                    "z": -0.06732784956693649
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.5399762392044067,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09085483849048615,
        "expert_target_speed": 7.230841644786099,
        "target_point": [
            35.26967922716228,
            0.8961011011568542
        ],
        "target_point_next": [
            45.463211174183115,
            1.3476946272188592
        ]
    },
    "200": {
        "acceleration": [
            -0.07423102855682373,
            -4.5131683349609375,
            -0.049915388226509094
        ],
        "angular_velocity": [
            -0.22150258719921112,
            -0.11281543225049973,
            2.2391252517700195
        ],
        "forward_vector": [
            -0.016301987692713737,
            -0.9998647570610046,
            0.002184866229072213
        ],
        "right_vector": [
            0.9998671412467957,
            -0.016302211210131645,
            -8.40262437122874e-05
        ],
        "location": [
            -2502.6484375,
            5165.943359375,
            378.4432678222656
        ],
        "rotation": [
            0.00481436075642705,
            0.12518370151519775,
            -90.93408203125
        ],
        "velocity": [
            -0.13667459785938263,
            -8.30753231048584,
            -0.04808935523033142
        ],
        "speed": 8.308656512064163,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.858538627624512,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.456787109375,
                5156.0869140625,
                378.3758850097656
            ],
            "velocity": [
                0.0021612702403217554,
                -8.02469253540039,
                -0.05573876202106476
            ],
            "speed_kmh": 28.8895910479597,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.66845703125,
                        "y": 4956.056640625,
                        "z": 376.06500244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.09814453125,
                        "y": 4980.85791015625,
                        "z": 376.3623352050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.02490234375,
                        "y": 5000.48779296875,
                        "z": 376.5530700683594
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.701904296875,
                        "y": 5026.24755859375,
                        "z": 376.81787109375
                    },
                    "rotation": {
                        "roll": 2.6682148046575094e-08,
                        "pitch": -0.6509989500045776,
                        "yaw": -82.57874298095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.52294921875,
                        "y": 5041.05810546875,
                        "z": 376.9989318847656
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.11669921875,
                        "y": 5055.84423828125,
                        "z": 377.1878967285156
                    },
                    "rotation": {
                        "roll": -5.336513808629206e-08,
                        "pitch": -0.7259534597396851,
                        "yaw": -84.07304382324219
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.493408203125,
                        "y": 5070.7021484375,
                        "z": 377.3860778808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.43115234375,
                        "y": 5082.5615234375,
                        "z": 377.55120849609375
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.16634464263916,
                "transform": {
                    "location": {
                        "x": -2498.161865234375,
                        "y": 5112.86767578125,
                        "z": 377.97894287109375
                    },
                    "rotation": {
                        "roll": 0.002591465599834919,
                        "pitch": -0.8155791759490967,
                        "yaw": -87.61392211914062
                    }
                },
                "velocity": {
                    "x": 0.388262540102005,
                    "y": -9.15740966796875,
                    "z": -0.1138622909784317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.362988471984863,
                "transform": {
                    "location": {
                        "x": -2498.66162109375,
                        "y": 5127.10693359375,
                        "z": 378.1257019042969
                    },
                    "rotation": {
                        "roll": 0.0006034584948793054,
                        "pitch": -0.5448919534683228,
                        "yaw": -88.43067169189453
                    }
                },
                "velocity": {
                    "x": 0.20448632538318634,
                    "y": -7.359760761260986,
                    "z": -0.07556896656751633
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.626444339752197,
                "transform": {
                    "location": {
                        "x": -2499.06005859375,
                        "y": 5160.0556640625,
                        "z": 378.4080810546875
                    },
                    "rotation": {
                        "roll": -0.0007019092445261776,
                        "pitch": -0.36154237389564514,
                        "yaw": -90.03497314453125
                    }
                },
                "velocity": {
                    "x": 0.00019577225612010807,
                    "y": -7.626278400421143,
                    "z": -0.050274450331926346
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.115779399871826,
                "transform": {
                    "location": {
                        "x": -2499.048828125,
                        "y": 5174.9697265625,
                        "z": 378.4916076660156
                    },
                    "rotation": {
                        "roll": 0.00020031954045407474,
                        "pitch": -0.3081371486186981,
                        "yaw": -90.03678131103516
                    }
                },
                "velocity": {
                    "x": -0.00458015501499176,
                    "y": -7.115701675415039,
                    "z": -0.03296989947557449
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.059847831726074,
                "transform": {
                    "location": {
                        "x": -2499.035888671875,
                        "y": 5197.15869140625,
                        "z": 378.5828552246094
                    },
                    "rotation": {
                        "roll": -0.0016784716863185167,
                        "pitch": 0.10553324967622757,
                        "yaw": -90.08287811279297
                    }
                },
                "velocity": {
                    "x": -0.008088567294180393,
                    "y": -10.059783935546875,
                    "z": -0.035023875534534454
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.85085916519165,
                "transform": {
                    "location": {
                        "x": -2499.025634765625,
                        "y": 5210.935546875,
                        "z": 378.61944580078125
                    },
                    "rotation": {
                        "roll": -0.0001831016270443797,
                        "pitch": -0.14005301892757416,
                        "yaw": -90.02439880371094
                    }
                },
                "velocity": {
                    "x": -0.004026645794510841,
                    "y": -6.850832939147949,
                    "z": -0.01855938322842121
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.312021255493164,
                "transform": {
                    "location": {
                        "x": -2502.430908203125,
                        "y": 5202.60546875,
                        "z": 378.58795166015625
                    },
                    "rotation": {
                        "roll": -0.0006408654735423625,
                        "pitch": -0.12949354946613312,
                        "yaw": -90.03195190429688
                    }
                },
                "velocity": {
                    "x": -0.005186757538467646,
                    "y": -9.311970710754395,
                    "z": -0.03025362454354763
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.236726760864258,
                "transform": {
                    "location": {
                        "x": -2502.4423828125,
                        "y": 5183.625,
                        "z": 378.53509521484375
                    },
                    "rotation": {
                        "roll": -3.0509332646033727e-05,
                        "pitch": -0.23910441994667053,
                        "yaw": -90.0093994140625
                    }
                },
                "velocity": {
                    "x": -0.004888812080025673,
                    "y": -9.236655235290527,
                    "z": -0.03598036244511604
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024886131286621,
                "transform": {
                    "location": {
                        "x": -2502.456787109375,
                        "y": 5156.0869140625,
                        "z": 378.3758850097656
                    },
                    "rotation": {
                        "roll": -0.0008850232698023319,
                        "pitch": -0.38763371109962463,
                        "yaw": -89.98387908935547
                    }
                },
                "velocity": {
                    "x": 0.0021612702403217554,
                    "y": -8.02469253540039,
                    "z": -0.05573876202106476
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041670799255371,
                "transform": {
                    "location": {
                        "x": -2502.28759765625,
                        "y": 5137.0693359375,
                        "z": 378.2377624511719
                    },
                    "rotation": {
                        "roll": 0.0012998401653021574,
                        "pitch": -0.5018276572227478,
                        "yaw": -89.02349090576172
                    }
                },
                "velocity": {
                    "x": 0.14017254114151,
                    "y": -8.040115356445312,
                    "z": -0.0732807070016861
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.683746337890625,
                "transform": {
                    "location": {
                        "x": -2505.932373046875,
                        "y": 5198.40771484375,
                        "z": 378.5807189941406
                    },
                    "rotation": {
                        "roll": 0.0016163899563252926,
                        "pitch": -0.11273226886987686,
                        "yaw": -90.03814697265625
                    }
                },
                "velocity": {
                    "x": -0.006920148618519306,
                    "y": -8.683693885803223,
                    "z": -0.029472269117832184
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.110405921936035,
                "transform": {
                    "location": {
                        "x": -2505.944580078125,
                        "y": 5180.3994140625,
                        "z": 378.5193176269531
                    },
                    "rotation": {
                        "roll": -0.0010070899734273553,
                        "pitch": -0.16052310168743134,
                        "yaw": -90.04336547851562
                    }
                },
                "velocity": {
                    "x": -0.004207075107842684,
                    "y": -8.110340118408203,
                    "z": -0.03229592368006706
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.049443244934082,
                "transform": {
                    "location": {
                        "x": -2505.95654296875,
                        "y": 5162.0556640625,
                        "z": 378.46014404296875
                    },
                    "rotation": {
                        "roll": -0.00033569944207556546,
                        "pitch": -0.3522055149078369,
                        "yaw": -90.04051971435547
                    }
                },
                "velocity": {
                    "x": -0.0056114159524440765,
                    "y": -8.049271583557129,
                    "z": -0.05233868584036827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.088863372802734,
                "transform": {
                    "location": {
                        "x": -2505.88623046875,
                        "y": 5143.287109375,
                        "z": 378.2809753417969
                    },
                    "rotation": {
                        "roll": -0.001190179493278265,
                        "pitch": -0.5025379657745361,
                        "yaw": -89.2930679321289
                    }
                },
                "velocity": {
                    "x": 0.08803432434797287,
                    "y": -7.088066101074219,
                    "z": -0.059583187103271484
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2865591049194336,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10528304427862167,
        "expert_target_speed": 8.079087900153953,
        "target_point": [
            33.328530536982896,
            0.8757666797206727
        ],
        "target_point_next": [
            43.52232835683756,
            1.3213183328897962
        ]
    },
    "205": {
        "acceleration": [
            0.03719121217727661,
            2.1791648864746094,
            0.0026488304138183594
        ],
        "angular_velocity": [
            1.7715508937835693,
            0.05983676388859749,
            -2.569056272506714
        ],
        "forward_vector": [
            -0.01655232161283493,
            -0.9998623132705688,
            -0.001214980729855597
        ],
        "right_vector": [
            0.9998630285263062,
            -0.01655224896967411,
            -6.906612543389201e-05
        ],
        "location": [
            -2502.68310546875,
            5163.8037109375,
            378.4313659667969
        ],
        "rotation": [
            0.003957200329750776,
            -0.06961328536272049,
            -90.94842529296875
        ],
        "velocity": [
            -0.13825882971286774,
            -8.492033958435059,
            -0.04901557043194771
        ],
        "speed": 8.493159380066277,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.732471466064453,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.45263671875,
                5154.07421875,
                378.3615417480469
            ],
            "velocity": [
                0.025651022791862488,
                -8.077290534973145,
                -0.057338349521160126
            ],
            "speed_kmh": 29.079125191410252,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.365478515625,
                        "y": 4953.57568359375,
                        "z": 376.03125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.729248046875,
                        "y": 4978.3837890625,
                        "z": 376.3357849121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.65625,
                        "y": 4998.01416015625,
                        "z": 376.5296936035156
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.3720703125,
                        "y": 5023.76904296875,
                        "z": 376.7898864746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.2333984375,
                        "y": 5038.5751953125,
                        "z": 376.96734619140625
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.864501953125,
                        "y": 5053.3564453125,
                        "z": 377.1556701660156
                    },
                    "rotation": {
                        "roll": -5.336513808629206e-08,
                        "pitch": -0.7259534597396851,
                        "yaw": -84.07304382324219
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.278564453125,
                        "y": 5068.2119140625,
                        "z": 377.35211181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.24462890625,
                        "y": 5080.06884765625,
                        "z": 377.5160217285156
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.810992240905762,
                "transform": {
                    "location": {
                        "x": -2498.058349609375,
                        "y": 5110.4755859375,
                        "z": 377.9485778808594
                    },
                    "rotation": {
                        "roll": 0.010119341313838959,
                        "pitch": -0.7961336374282837,
                        "yaw": -87.47909545898438
                    }
                },
                "velocity": {
                    "x": 0.4546344578266144,
                    "y": -9.79967212677002,
                    "z": -0.1236657127737999
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.541043281555176,
                "transform": {
                    "location": {
                        "x": -2498.603271484375,
                        "y": 5125.11572265625,
                        "z": 378.1044921875
                    },
                    "rotation": {
                        "roll": -0.0047607445158064365,
                        "pitch": -0.5376588106155396,
                        "yaw": -88.31014251708984
                    }
                },
                "velocity": {
                    "x": 0.2702390253543854,
                    "y": -8.53625774383545,
                    "z": -0.09322692453861237
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.503082275390625,
                "transform": {
                    "location": {
                        "x": -2499.059814453125,
                        "y": 5158.033203125,
                        "z": 378.39453125
                    },
                    "rotation": {
                        "roll": -0.00021362112602218986,
                        "pitch": -0.3634343445301056,
                        "yaw": -89.9865493774414
                    }
                },
                "velocity": {
                    "x": 0.0038070078007876873,
                    "y": -8.502888679504395,
                    "z": -0.05719076842069626
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.934061050415039,
                "transform": {
                    "location": {
                        "x": -2499.0498046875,
                        "y": 5173.24658203125,
                        "z": 378.4838562011719
                    },
                    "rotation": {
                        "roll": -0.0006408665794879198,
                        "pitch": -0.40600690245628357,
                        "yaw": -90.0372314453125
                    }
                },
                "velocity": {
                    "x": -0.004520881921052933,
                    "y": -6.933979511260986,
                    "z": -0.03334333375096321
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.417009353637695,
                "transform": {
                    "location": {
                        "x": -2499.037841796875,
                        "y": 5194.7060546875,
                        "z": 378.5773010253906
                    },
                    "rotation": {
                        "roll": -0.00018311016901861876,
                        "pitch": -0.2943674623966217,
                        "yaw": -90.0574951171875
                    }
                },
                "velocity": {
                    "x": -0.007912675850093365,
                    "y": -9.416946411132812,
                    "z": -0.03359595313668251
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.736298084259033,
                "transform": {
                    "location": {
                        "x": -2499.026611328125,
                        "y": 5209.1015625,
                        "z": 378.6141052246094
                    },
                    "rotation": {
                        "roll": 0.0005119657143950462,
                        "pitch": -0.14776431024074554,
                        "yaw": -90.03246307373047
                    }
                },
                "velocity": {
                    "x": -0.004174685571342707,
                    "y": -7.736264705657959,
                    "z": -0.022318387404084206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.856648445129395,
                "transform": {
                    "location": {
                        "x": -2502.431884765625,
                        "y": 5200.19189453125,
                        "z": 378.580078125
                    },
                    "rotation": {
                        "roll": -9.155417501460761e-05,
                        "pitch": -0.145694762468338,
                        "yaw": -90.03130340576172
                    }
                },
                "velocity": {
                    "x": -0.005408192984759808,
                    "y": -9.856590270996094,
                    "z": -0.03342428058385849
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.2936372756958,
                "transform": {
                    "location": {
                        "x": -2502.443359375,
                        "y": 5181.46337890625,
                        "z": 378.5258483886719
                    },
                    "rotation": {
                        "roll": -0.000640865764580667,
                        "pitch": -0.13943830132484436,
                        "yaw": -90.0589828491211
                    }
                },
                "velocity": {
                    "x": -0.007750792894512415,
                    "y": -8.293567657470703,
                    "z": -0.03313039243221283
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077534675598145,
                "transform": {
                    "location": {
                        "x": -2502.45263671875,
                        "y": 5154.07421875,
                        "z": 378.3615417480469
                    },
                    "rotation": {
                        "roll": -0.004058842081576586,
                        "pitch": -0.4203161597251892,
                        "yaw": -89.86766815185547
                    }
                },
                "velocity": {
                    "x": 0.025651022791862488,
                    "y": -8.077290534973145,
                    "z": -0.057338349521160126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040899276733398,
                "transform": {
                    "location": {
                        "x": -2502.24951171875,
                        "y": 5135.06005859375,
                        "z": 378.219482421875
                    },
                    "rotation": {
                        "roll": 0.00967335794121027,
                        "pitch": -0.5357053875923157,
                        "yaw": -88.9320068359375
                    }
                },
                "velocity": {
                    "x": 0.17164063453674316,
                    "y": -8.038725852966309,
                    "z": -0.07410965114831924
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.731189250946045,
                "transform": {
                    "location": {
                        "x": -2505.93359375,
                        "y": 5196.3505859375,
                        "z": 378.5747985839844
                    },
                    "rotation": {
                        "roll": 0.0009713019244372845,
                        "pitch": -0.4330407977104187,
                        "yaw": -90.041015625
                    }
                },
                "velocity": {
                    "x": -0.005544926971197128,
                    "y": -7.731136798858643,
                    "z": -0.027964076027274132
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.374889373779297,
                "transform": {
                    "location": {
                        "x": -2505.945556640625,
                        "y": 5178.28369140625,
                        "z": 378.51068115234375
                    },
                    "rotation": {
                        "roll": -0.0002746563695836812,
                        "pitch": -0.18377305567264557,
                        "yaw": -90.02381896972656
                    }
                },
                "velocity": {
                    "x": -0.005387225188314915,
                    "y": -8.374810218811035,
                    "z": -0.03611890226602554
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011887550354004,
                "transform": {
                    "location": {
                        "x": -2505.95703125,
                        "y": 5160.048828125,
                        "z": 378.44744873046875
                    },
                    "rotation": {
                        "roll": 0.00034367837361060083,
                        "pitch": -0.38592615723609924,
                        "yaw": -90.02306365966797
                    }
                },
                "velocity": {
                    "x": -0.0007275528041645885,
                    "y": -8.011712074279785,
                    "z": -0.05300237610936165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.893155574798584,
                "transform": {
                    "location": {
                        "x": -2505.86474609375,
                        "y": 5141.5693359375,
                        "z": 378.2663879394531
                    },
                    "rotation": {
                        "roll": -0.0031738386023789644,
                        "pitch": -0.502223789691925,
                        "yaw": -89.17584228515625
                    }
                },
                "velocity": {
                    "x": 0.09253785759210587,
                    "y": -6.892294883728027,
                    "z": -0.05743548646569252
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13683785498142242,
        "expert_target_speed": 8.162926965716794,
        "target_point": [
            31.18838406012382,
            0.8832496866197502
        ],
        "target_point_next": [
            41.38207151702617,
            1.3313192110321248
        ]
    },
    "210": {
        "acceleration": [
            0.06504163146018982,
            3.605489730834961,
            0.006193891167640686
        ],
        "angular_velocity": [
            1.301493525505066,
            -0.011817674152553082,
            2.7691915035247803
        ],
        "forward_vector": [
            -0.015914183109998703,
            -0.9998366832733154,
            -0.008559240959584713
        ],
        "right_vector": [
            0.9998733401298523,
            -0.01591412164270878,
            -7.534259202657267e-05
        ],
        "location": [
            -2502.7158203125,
            5161.78857421875,
            378.4206237792969
        ],
        "rotation": [
            0.00431697117164731,
            -0.4904143810272217,
            -90.9118881225586
        ],
        "velocity": [
            -0.123332180082798,
            -7.660521030426025,
            -0.048904020339250565
        ],
        "speed": 7.6615137723718405,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.731058120727539,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.446533203125,
                5152.0615234375,
                378.3467102050781
            ],
            "velocity": [
                0.0276628527790308,
                -8.025367736816406,
                -0.06109368056058884
            ],
            "speed_kmh": 28.89233261215528,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.07373046875,
                        "y": 4951.0927734375,
                        "z": 375.9964294433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.36279296875,
                        "y": 4975.90966796875,
                        "z": 376.30865478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.287353515625,
                        "y": 4995.5400390625,
                        "z": 376.5062561035156
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.041259765625,
                        "y": 5021.291015625,
                        "z": 376.7620544433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.939208984375,
                        "y": 5036.091796875,
                        "z": 376.93609619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7066649794578552,
                        "yaw": -83.15172576904297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.606201171875,
                        "y": 5050.869140625,
                        "z": 377.1236572265625
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.0576171875,
                        "y": 5065.72216796875,
                        "z": 377.3184814453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.054931640625,
                        "y": 5077.57666015625,
                        "z": 377.48101806640625
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615678787231445,
                "transform": {
                    "location": {
                        "x": -2497.9453125,
                        "y": 5108.04541015625,
                        "z": 377.91650390625
                    },
                    "rotation": {
                        "roll": 0.003978145308792591,
                        "pitch": -0.7425849437713623,
                        "yaw": -87.34850311279297
                    }
                },
                "velocity": {
                    "x": 0.452993243932724,
                    "y": -9.604162216186523,
                    "z": -0.1270572692155838
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.67759895324707,
                "transform": {
                    "location": {
                        "x": -2498.53076171875,
                        "y": 5122.8193359375,
                        "z": 378.0795593261719
                    },
                    "rotation": {
                        "roll": -0.0019226031145080924,
                        "pitch": -0.5599388480186462,
                        "yaw": -88.17251586914062
                    }
                },
                "velocity": {
                    "x": 0.3123648464679718,
                    "y": -9.671966552734375,
                    "z": -0.10685624182224274
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.279451370239258,
                "transform": {
                    "location": {
                        "x": -2499.058837890625,
                        "y": 5155.80712890625,
                        "z": 378.37939453125
                    },
                    "rotation": {
                        "roll": -0.0013428009115159512,
                        "pitch": -0.37344056367874146,
                        "yaw": -89.9728012084961
                    }
                },
                "velocity": {
                    "x": 0.004118692129850388,
                    "y": -9.279215812683105,
                    "z": -0.06598279625177383
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.954526424407959,
                "transform": {
                    "location": {
                        "x": -2499.05078125,
                        "y": 5171.39208984375,
                        "z": 378.4733581542969
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.0725092813372612,
                        "yaw": -90.0367431640625
                    }
                },
                "velocity": {
                    "x": -0.005200033076107502,
                    "y": -7.954422950744629,
                    "z": -0.040209200233221054
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.4060640335083,
                "transform": {
                    "location": {
                        "x": -2499.03955078125,
                        "y": 5192.38037109375,
                        "z": 378.5690612792969
                    },
                    "rotation": {
                        "roll": -0.0019225826254114509,
                        "pitch": -0.3259912431240082,
                        "yaw": -90.01571655273438
                    }
                },
                "velocity": {
                    "x": -0.004039733204990625,
                    "y": -9.40600299835205,
                    "z": -0.03371395543217659
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.559713363647461,
                "transform": {
                    "location": {
                        "x": -2499.027587890625,
                        "y": 5207.06005859375,
                        "z": 378.6080017089844
                    },
                    "rotation": {
                        "roll": -9.154756116913632e-05,
                        "pitch": -0.1598195880651474,
                        "yaw": -90.0322265625
                    }
                },
                "velocity": {
                    "x": -0.004790359176695347,
                    "y": -8.559672355651855,
                    "z": -0.026155786588788033
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.624374389648438,
                "transform": {
                    "location": {
                        "x": -2502.432861328125,
                        "y": 5197.8681640625,
                        "z": 378.5729675292969
                    },
                    "rotation": {
                        "roll": 9.583695646142587e-05,
                        "pitch": -0.24438415467739105,
                        "yaw": -90.03130340576172
                    }
                },
                "velocity": {
                    "x": -0.004731540568172932,
                    "y": -8.624323844909668,
                    "z": -0.029161756858229637
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.666987895965576,
                "transform": {
                    "location": {
                        "x": -2502.448486328125,
                        "y": 5179.5498046875,
                        "z": 378.5177001953125
                    },
                    "rotation": {
                        "roll": -0.0007018994074314833,
                        "pitch": -0.08664094656705856,
                        "yaw": -89.5777816772461
                    }
                },
                "velocity": {
                    "x": 0.0036558753345161676,
                    "y": -6.666927814483643,
                    "z": -0.02803443931043148
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025647163391113,
                "transform": {
                    "location": {
                        "x": -2502.446533203125,
                        "y": 5152.0615234375,
                        "z": 378.3467102050781
                    },
                    "rotation": {
                        "roll": -0.001373279606923461,
                        "pitch": -0.426941454410553,
                        "yaw": -89.81610107421875
                    }
                },
                "velocity": {
                    "x": 0.0276628527790308,
                    "y": -8.025367736816406,
                    "z": -0.06109368056058884
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040131568908691,
                "transform": {
                    "location": {
                        "x": -2502.20703125,
                        "y": 5133.05029296875,
                        "z": 378.20062255859375
                    },
                    "rotation": {
                        "roll": 0.0030297234188765287,
                        "pitch": -0.5398239493370056,
                        "yaw": -88.7668228149414
                    }
                },
                "velocity": {
                    "x": 0.17854255437850952,
                    "y": -8.037785530090332,
                    "z": -0.07648707181215286
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.635166168212891,
                "transform": {
                    "location": {
                        "x": -2505.9345703125,
                        "y": 5194.46435546875,
                        "z": 378.56781005859375
                    },
                    "rotation": {
                        "roll": 0.0002707457751967013,
                        "pitch": -0.3861037492752075,
                        "yaw": -90.04149627685547
                    }
                },
                "velocity": {
                    "x": -0.005514323711395264,
                    "y": -7.635119438171387,
                    "z": -0.02613927237689495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.836105823516846,
                "transform": {
                    "location": {
                        "x": -2505.94677734375,
                        "y": 5176.28564453125,
                        "z": 378.5021667480469
                    },
                    "rotation": {
                        "roll": -0.0011902047554031014,
                        "pitch": -0.3129934072494507,
                        "yaw": -90.04964447021484
                    }
                },
                "velocity": {
                    "x": -0.0049214777536690235,
                    "y": -7.836033344268799,
                    "z": -0.0333828330039978
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.049549102783203,
                "transform": {
                    "location": {
                        "x": -2505.95751953125,
                        "y": 5158.041015625,
                        "z": 378.43402099609375
                    },
                    "rotation": {
                        "roll": -0.0005798186175525188,
                        "pitch": -0.38381561636924744,
                        "yaw": -90.00218963623047
                    }
                },
                "velocity": {
                    "x": -0.00032410910353064537,
                    "y": -8.049370765686035,
                    "z": -0.05359642207622528
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.7062811851501465,
                "transform": {
                    "location": {
                        "x": -2505.83837890625,
                        "y": 5139.7529296875,
                        "z": 378.2507019042969
                    },
                    "rotation": {
                        "roll": -0.0029601871501654387,
                        "pitch": -0.4725671112537384,
                        "yaw": -89.08189392089844
                    }
                },
                "velocity": {
                    "x": 0.12637051939964294,
                    "y": -7.704964637756348,
                    "z": -0.06570780277252197
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2694181501865387,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17485781013965607,
        "expert_target_speed": 7.560294334994994,
        "target_point": [
            29.17353990321236,
            0.8639678003493175
        ],
        "target_point_next": [
            39.3675115785021,
            1.3055238569332706
        ]
    },
    "215": {
        "acceleration": [
            0.01339450478553772,
            -0.00736236572265625,
            -0.01324482262134552
        ],
        "angular_velocity": [
            -0.6284938454627991,
            0.009853854775428772,
            -2.887916326522827
        ],
        "forward_vector": [
            -0.01599952019751072,
            -0.9998128414154053,
            -0.010876559652388096
        ],
        "right_vector": [
            0.9998719692230225,
            -0.01599998213350773,
            -4.4533051550388336e-05
        ],
        "location": [
            -2502.744873046875,
            5159.97314453125,
            378.40948486328125
        ],
        "rotation": [
            0.0025517067406326532,
            -0.6231932640075684,
            -90.91680145263672
        ],
        "velocity": [
            -0.11256194114685059,
            -7.11428689956665,
            -0.04616447910666466
        ],
        "speed": 7.115177318938749,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.929398536682129,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.43701171875,
                5150.048828125,
                378.33123779296875
            ],
            "velocity": [
                0.05596455931663513,
                -8.077760696411133,
                -0.0637073665857315
            ],
            "speed_kmh": 29.081540786813182,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.7841796875,
                        "y": 4948.60986328125,
                        "z": 375.9615478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.00048828125,
                        "y": 4973.43603515625,
                        "z": 376.28076171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.91845703125,
                        "y": 4993.06591796875,
                        "z": 376.4828796386719
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.699462890625,
                        "y": 5018.81494140625,
                        "z": 376.7352600097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.634033203125,
                        "y": 5033.611328125,
                        "z": 376.9056091308594
                    },
                    "rotation": {
                        "roll": -2.6682299036906443e-08,
                        "pitch": -0.6788319945335388,
                        "yaw": -82.86524200439453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.341064453125,
                        "y": 5048.3837890625,
                        "z": 377.0920104980469
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.829833984375,
                        "y": 5063.234375,
                        "z": 377.28515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.85595703125,
                        "y": 5075.08642578125,
                        "z": 377.44635009765625
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.578012466430664,
                "transform": {
                    "location": {
                        "x": -2497.830810546875,
                        "y": 5105.65625,
                        "z": 377.8847961425781
                    },
                    "rotation": {
                        "roll": 0.010644596070051193,
                        "pitch": -0.7643186450004578,
                        "yaw": -87.20296478271484
                    }
                },
                "velocity": {
                    "x": 0.4903792142868042,
                    "y": -9.564592361450195,
                    "z": -0.12817177176475525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.192644119262695,
                "transform": {
                    "location": {
                        "x": -2498.45263671875,
                        "y": 5120.4462890625,
                        "z": 378.0537414550781
                    },
                    "rotation": {
                        "roll": -0.005249036476016045,
                        "pitch": -0.6422426700592041,
                        "yaw": -88.0731430053711
                    }
                },
                "velocity": {
                    "x": 0.32952681183815,
                    "y": -9.18613338470459,
                    "z": -0.10521542280912399
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.87429141998291,
                "transform": {
                    "location": {
                        "x": -2499.0546875,
                        "y": 5153.3935546875,
                        "z": 378.36236572265625
                    },
                    "rotation": {
                        "roll": -0.0015563900815322995,
                        "pitch": -0.4150364100933075,
                        "yaw": -89.86486053466797
                    }
                },
                "velocity": {
                    "x": 0.029857603833079338,
                    "y": -9.873981475830078,
                    "z": -0.07221931964159012
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.056967735290527,
                "transform": {
                    "location": {
                        "x": -2499.0517578125,
                        "y": 5169.3017578125,
                        "z": 378.46209716796875
                    },
                    "rotation": {
                        "roll": 0.00016202374536078423,
                        "pitch": 0.08909980952739716,
                        "yaw": -90.0360336303711
                    }
                },
                "velocity": {
                    "x": -0.005673567298799753,
                    "y": -9.056842803955078,
                    "z": -0.047131411731243134
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.768448829650879,
                "transform": {
                    "location": {
                        "x": -2499.04052734375,
                        "y": 5189.9541015625,
                        "z": 378.5583801269531
                    },
                    "rotation": {
                        "roll": -0.0008850076119415462,
                        "pitch": -0.09554751217365265,
                        "yaw": -90.03478240966797
                    }
                },
                "velocity": {
                    "x": -0.004022274632006884,
                    "y": -9.768383026123047,
                    "z": -0.03566441312432289
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.317585945129395,
                "transform": {
                    "location": {
                        "x": -2499.028564453125,
                        "y": 5204.822265625,
                        "z": 378.60113525390625
                    },
                    "rotation": {
                        "roll": 0.00026075547793880105,
                        "pitch": -0.15926633775234222,
                        "yaw": -90.03219604492188
                    }
                },
                "velocity": {
                    "x": -0.0052072349935770035,
                    "y": -9.31753921508789,
                    "z": -0.029008254408836365
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.154940605163574,
                "transform": {
                    "location": {
                        "x": -2502.43408203125,
                        "y": 5195.923828125,
                        "z": 378.56640625
                    },
                    "rotation": {
                        "roll": -0.00021363288396969438,
                        "pitch": -0.28966832160949707,
                        "yaw": -90.04039001464844
                    }
                },
                "velocity": {
                    "x": -0.006382383406162262,
                    "y": -7.15489387512207,
                    "z": -0.024997901171445847
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.430239677429199,
                "transform": {
                    "location": {
                        "x": -2502.447021484375,
                        "y": 5177.94091796875,
                        "z": 378.5116271972656
                    },
                    "rotation": {
                        "roll": -0.00033568820799700916,
                        "pitch": -0.18518008291721344,
                        "yaw": -89.78810119628906
                    }
                },
                "velocity": {
                    "x": -0.003730476601049304,
                    "y": -6.430185317993164,
                    "z": -0.026126699522137642
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078206062316895,
                "transform": {
                    "location": {
                        "x": -2502.43701171875,
                        "y": 5150.048828125,
                        "z": 378.33123779296875
                    },
                    "rotation": {
                        "roll": -0.004974344279617071,
                        "pitch": -0.4490644335746765,
                        "yaw": -89.7095947265625
                    }
                },
                "velocity": {
                    "x": 0.05596455931663513,
                    "y": -8.077760696411133,
                    "z": -0.0637073665857315
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.04147720336914,
                "transform": {
                    "location": {
                        "x": -2502.16259765625,
                        "y": 5131.041015625,
                        "z": 378.18121337890625
                    },
                    "rotation": {
                        "roll": 0.00183207041118294,
                        "pitch": -0.5540785789489746,
                        "yaw": -88.76129150390625
                    }
                },
                "velocity": {
                    "x": 0.17673452198505402,
                    "y": -8.039129257202148,
                    "z": -0.08071282505989075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.368243217468262,
                "transform": {
                    "location": {
                        "x": -2505.93603515625,
                        "y": 5192.43994140625,
                        "z": 378.5592041015625
                    },
                    "rotation": {
                        "roll": 0.0010558764915913343,
                        "pitch": -0.04367222636938095,
                        "yaw": -90.04280853271484
                    }
                },
                "velocity": {
                    "x": -0.0073404209688305855,
                    "y": -8.368186950683594,
                    "z": -0.02970918081700802
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.558869361877441,
                "transform": {
                    "location": {
                        "x": -2505.947509765625,
                        "y": 5174.2470703125,
                        "z": 378.492919921875
                    },
                    "rotation": {
                        "roll": 0.0009879274293780327,
                        "pitch": -0.1754402220249176,
                        "yaw": -90.02322387695312
                    }
                },
                "velocity": {
                    "x": -0.0053450921550393105,
                    "y": -8.558780670166016,
                    "z": -0.03859458863735199
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014349937438965,
                "transform": {
                    "location": {
                        "x": -2505.957275390625,
                        "y": 5156.033203125,
                        "z": 378.4205017089844
                    },
                    "rotation": {
                        "roll": -0.0006714017945341766,
                        "pitch": -0.3901677131652832,
                        "yaw": -89.99059295654297
                    }
                },
                "velocity": {
                    "x": 0.0027177485171705484,
                    "y": -8.014150619506836,
                    "z": -0.0564982034265995
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.730056762695312,
                "transform": {
                    "location": {
                        "x": -2505.80517578125,
                        "y": 5137.7333984375,
                        "z": 378.2331237792969
                    },
                    "rotation": {
                        "roll": -0.0022277801763266325,
                        "pitch": -0.4590706527233124,
                        "yaw": -88.96044158935547
                    }
                },
                "velocity": {
                    "x": 0.1531335562467575,
                    "y": -8.728371620178223,
                    "z": -0.07728797942399979
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.936509907245636,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2101942002773285,
        "expert_target_speed": 7.225869947828327,
        "target_point": [
            27.357800193884806,
            0.8665828127336174
        ],
        "target_point_next": [
            37.5517322447507,
            1.3090527100651854
        ]
    },
    "220": {
        "acceleration": [
            0.07883325219154358,
            1.8666458129882812,
            0.0006723403930664062
        ],
        "angular_velocity": [
            -0.4791845381259918,
            -0.013247905299067497,
            0.5596538782119751
        ],
        "forward_vector": [
            -0.014037806540727615,
            -0.9998009204864502,
            -0.0141792306676507
        ],
        "right_vector": [
            0.9999014735221863,
            -0.014040729030966759,
            0.00010651535558281466
        ],
        "location": [
            -2502.768798828125,
            5158.41796875,
            378.3998107910156
        ],
        "rotation": [
            -0.006103494204580784,
            -0.8124372959136963,
            -90.80441284179688
        ],
        "velocity": [
            -0.08120125532150269,
            -5.790040969848633,
            -0.040255118161439896
        ],
        "speed": 5.790610337122632,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.387917518615723,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.423583984375,
                5148.0361328125,
                378.3153381347656
            ],
            "velocity": [
                0.05987120047211647,
                -8.025059700012207,
                -0.06364366412162781
            ],
            "speed_kmh": 28.891927397102446,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.50732421875,
                        "y": 4946.1240234375,
                        "z": 375.9263916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.645751953125,
                        "y": 4970.9609375,
                        "z": 376.25225830078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.549560546875,
                        "y": 4990.59228515625,
                        "z": 376.4593200683594
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.354248046875,
                        "y": 5016.3388671875,
                        "z": 376.7088623046875
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.328125,
                        "y": 5031.130859375,
                        "z": 376.8753356933594
                    },
                    "rotation": {
                        "roll": -2.6682299036906443e-08,
                        "pitch": -0.6788319945335388,
                        "yaw": -82.86524200439453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.068359375,
                        "y": 5045.89990234375,
                        "z": 377.0604553222656
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.596435546875,
                        "y": 5060.748046875,
                        "z": 377.25213623046875
                    },
                    "rotation": {
                        "roll": 2.6682641873776447e-08,
                        "pitch": -0.7387053966522217,
                        "yaw": -84.35952758789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.65380859375,
                        "y": 5072.59716796875,
                        "z": 377.4119567871094
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.64009952545166,
                "transform": {
                    "location": {
                        "x": -2497.707275390625,
                        "y": 5103.2548828125,
                        "z": 377.8523254394531
                    },
                    "rotation": {
                        "roll": 0.004751105327159166,
                        "pitch": -0.7818585634231567,
                        "yaw": -87.07111358642578
                    }
                },
                "velocity": {
                    "x": 0.5014731884002686,
                    "y": -9.626096725463867,
                    "z": -0.13535550236701965
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.178696632385254,
                "transform": {
                    "location": {
                        "x": -2498.370361328125,
                        "y": 5118.17626953125,
                        "z": 378.02764892578125
                    },
                    "rotation": {
                        "roll": -0.0021667389664798975,
                        "pitch": -0.6852045655250549,
                        "yaw": -87.89704895019531
                    }
                },
                "velocity": {
                    "x": 0.3411639630794525,
                    "y": -9.171720504760742,
                    "z": -0.10775575041770935
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.746413230895996,
                "transform": {
                    "location": {
                        "x": -2499.046630859375,
                        "y": 5150.93603515625,
                        "z": 378.3437805175781
                    },
                    "rotation": {
                        "roll": -0.00021363656560424715,
                        "pitch": -0.4435388147830963,
                        "yaw": -89.77912902832031
                    }
                },
                "velocity": {
                    "x": 0.03810552880167961,
                    "y": -9.74604320526123,
                    "z": -0.07589221745729446
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.866486549377441,
                "transform": {
                    "location": {
                        "x": -2499.053466796875,
                        "y": 5166.88134765625,
                        "z": 378.44873046875
                    },
                    "rotation": {
                        "roll": -0.00015258892381098121,
                        "pitch": 0.10134634375572205,
                        "yaw": -90.03533935546875
                    }
                },
                "velocity": {
                    "x": -0.006106756627559662,
                    "y": -9.866342544555664,
                    "z": -0.05290232226252556
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.253755569458008,
                "transform": {
                    "location": {
                        "x": -2499.041748046875,
                        "y": 5187.595703125,
                        "z": 378.55126953125
                    },
                    "rotation": {
                        "roll": -0.00039673008723184466,
                        "pitch": -0.3016621172428131,
                        "yaw": -90.0142822265625
                    }
                },
                "velocity": {
                    "x": -0.0044326321221888065,
                    "y": -9.253682136535645,
                    "z": -0.03649337217211723
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.425402641296387,
                "transform": {
                    "location": {
                        "x": -2499.030029296875,
                        "y": 5202.4443359375,
                        "z": 378.5935363769531
                    },
                    "rotation": {
                        "roll": -0.0003051722305826843,
                        "pitch": -0.18102732300758362,
                        "yaw": -90.0353012084961
                    }
                },
                "velocity": {
                    "x": -0.005801281426101923,
                    "y": -9.425352096557617,
                    "z": -0.03042731247842312
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.429017066955566,
                "transform": {
                    "location": {
                        "x": -2502.435302734375,
                        "y": 5194.130859375,
                        "z": 378.5594482421875
                    },
                    "rotation": {
                        "roll": -6.103192936279811e-05,
                        "pitch": -0.221072718501091,
                        "yaw": -90.0429916381836
                    }
                },
                "velocity": {
                    "x": -0.005439241416752338,
                    "y": -7.428966522216797,
                    "z": -0.026838697493076324
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.8929443359375,
                "transform": {
                    "location": {
                        "x": -2502.44677734375,
                        "y": 5176.265625,
                        "z": 378.5054626464844
                    },
                    "rotation": {
                        "roll": -0.0013427877565845847,
                        "pitch": -0.2738632559776306,
                        "yaw": -89.90727996826172
                    }
                },
                "velocity": {
                    "x": -0.002971546957269311,
                    "y": -6.892883777618408,
                    "z": -0.028702424839138985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025535583496094,
                "transform": {
                    "location": {
                        "x": -2502.423583984375,
                        "y": 5148.0361328125,
                        "z": 378.3153381347656
                    },
                    "rotation": {
                        "roll": -0.0021057131234556437,
                        "pitch": -0.45818954706192017,
                        "yaw": -89.5955581665039
                    }
                },
                "velocity": {
                    "x": 0.05987120047211647,
                    "y": -8.025059700012207,
                    "z": -0.06364366412162781
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041024208068848,
                "transform": {
                    "location": {
                        "x": -2502.112060546875,
                        "y": 5129.03125,
                        "z": 378.1612548828125
                    },
                    "rotation": {
                        "roll": 0.005154552403837442,
                        "pitch": -0.5846231579780579,
                        "yaw": -88.54107666015625
                    }
                },
                "velocity": {
                    "x": 0.21785840392112732,
                    "y": -8.037671089172363,
                    "z": -0.08034516870975494
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.21955680847168,
                "transform": {
                    "location": {
                        "x": -2505.93798828125,
                        "y": 5190.2255859375,
                        "z": 378.550537109375
                    },
                    "rotation": {
                        "roll": 0.0004825763462577015,
                        "pitch": 0.10655094683170319,
                        "yaw": -90.04845428466797
                    }
                },
                "velocity": {
                    "x": -0.007872114889323711,
                    "y": -9.21949291229248,
                    "z": -0.033525314182043076
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.002998352050781,
                "transform": {
                    "location": {
                        "x": -2505.948974609375,
                        "y": 5172.15283203125,
                        "z": 378.48297119140625
                    },
                    "rotation": {
                        "roll": 0.0013675973750650883,
                        "pitch": -0.35004034638404846,
                        "yaw": -90.05084228515625
                    }
                },
                "velocity": {
                    "x": -0.007206458132714033,
                    "y": -8.002890586853027,
                    "z": -0.04095473513007164
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047539710998535,
                "transform": {
                    "location": {
                        "x": -2505.953369140625,
                        "y": 5154.025390625,
                        "z": 378.4063720703125
                    },
                    "rotation": {
                        "roll": -0.004760743584483862,
                        "pitch": -0.42156606912612915,
                        "yaw": -89.87400817871094
                    }
                },
                "velocity": {
                    "x": 0.02569369040429592,
                    "y": -8.04728889465332,
                    "z": -0.05805950611829758
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.356016159057617,
                "transform": {
                    "location": {
                        "x": -2505.76708984375,
                        "y": 5135.5869140625,
                        "z": 378.21417236328125
                    },
                    "rotation": {
                        "roll": -0.0018616002053022385,
                        "pitch": -0.531771183013916,
                        "yaw": -88.87115478515625
                    }
                },
                "velocity": {
                    "x": 0.16150735318660736,
                    "y": -8.35409927368164,
                    "z": -0.07712259888648987
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23262330889701843,
        "expert_target_speed": 6.191461068304429,
        "target_point": [
            25.80409145450197,
            0.8149283494939702
        ],
        "target_point_next": [
            35.998873095597354,
            1.2373707220137709
        ]
    },
    "225": {
        "acceleration": [
            0.12753009796142578,
            -0.04351615905761719,
            -0.005667954683303833
        ],
        "angular_velocity": [
            -0.8428128957748413,
            -0.06118692457675934,
            0.603439450263977
        ],
        "forward_vector": [
            -0.011918176896870136,
            -0.9998780488967896,
            -0.010089344345033169
        ],
        "right_vector": [
            0.9999287724494934,
            -0.011923262849450111,
            0.0004441928758751601
        ],
        "location": [
            -2502.785888671875,
            5156.9833984375,
            378.38916015625
        ],
        "rotation": [
            -0.025451675057411194,
            -0.5780866742134094,
            -90.68291473388672
        ],
        "velocity": [
            -0.05133264884352684,
            -5.733811378479004,
            -0.037817809730768204
        ],
        "speed": 5.734041154788879,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.966828346252441,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.408447265625,
                5146.0234375,
                378.2990417480469
            ],
            "velocity": [
                0.06079563498497009,
                -8.076825141906738,
                -0.06560541689395905
            ],
            "speed_kmh": 29.078353375071476,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.232177734375,
                        "y": 4943.638671875,
                        "z": 375.89117431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.298583984375,
                        "y": 4968.4853515625,
                        "z": 376.2229919433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.1806640625,
                        "y": 4988.1181640625,
                        "z": 376.43572998046875
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.0009765625,
                        "y": 5013.86279296875,
                        "z": 376.68310546875
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.0107421875,
                        "y": 5028.650390625,
                        "z": 376.8460388183594
                    },
                    "rotation": {
                        "roll": 2.6682148046575094e-08,
                        "pitch": -0.6509989500045776,
                        "yaw": -82.57874298095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.7919921875,
                        "y": 5043.4140625,
                        "z": 377.02880859375
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.3564453125,
                        "y": 5058.2607421875,
                        "z": 377.2193603515625
                    },
                    "rotation": {
                        "roll": 2.6682641873776447e-08,
                        "pitch": -0.7387053966522217,
                        "yaw": -84.35952758789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.44287109375,
                        "y": 5070.10791015625,
                        "z": 377.3779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.616689682006836,
                "transform": {
                    "location": {
                        "x": -2497.58154296875,
                        "y": 5100.85107421875,
                        "z": 377.81866455078125
                    },
                    "rotation": {
                        "roll": 0.00846079271286726,
                        "pitch": -0.815613329410553,
                        "yaw": -86.96694946289062
                    }
                },
                "velocity": {
                    "x": 0.5329751968383789,
                    "y": -9.6009521484375,
                    "z": -0.13554441928863525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.381701469421387,
                "transform": {
                    "location": {
                        "x": -2498.282958984375,
                        "y": 5115.8427734375,
                        "z": 377.9998779296875
                    },
                    "rotation": {
                        "roll": -0.00305175525136292,
                        "pitch": -0.6697068214416504,
                        "yaw": -87.82797241210938
                    }
                },
                "velocity": {
                    "x": 0.37558186054229736,
                    "y": -9.373526573181152,
                    "z": -0.11074773222208023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.663337707519531,
                "transform": {
                    "location": {
                        "x": -2499.033447265625,
                        "y": 5148.513671875,
                        "z": 378.32476806640625
                    },
                    "rotation": {
                        "roll": -0.0008239983581006527,
                        "pitch": -0.46167296171188354,
                        "yaw": -89.62913513183594
                    }
                },
                "velocity": {
                    "x": 0.06979566067457199,
                    "y": -9.662782669067383,
                    "z": -0.07653480023145676
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.105735778808594,
                "transform": {
                    "location": {
                        "x": -2499.055419921875,
                        "y": 5164.4755859375,
                        "z": 378.43646240234375
                    },
                    "rotation": {
                        "roll": -0.0011291628470644355,
                        "pitch": -0.3454299569129944,
                        "yaw": -90.03804779052734
                    }
                },
                "velocity": {
                    "x": -0.004899628460407257,
                    "y": -9.105578422546387,
                    "z": -0.05328673869371414
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.642837524414062,
                "transform": {
                    "location": {
                        "x": -2499.04248046875,
                        "y": 5185.23876953125,
                        "z": 378.54119873046875
                    },
                    "rotation": {
                        "roll": -0.0005493127973750234,
                        "pitch": -0.18429897725582123,
                        "yaw": -90.0434341430664
                    }
                },
                "velocity": {
                    "x": -0.005215225741267204,
                    "y": -9.642765998840332,
                    "z": -0.036738112568855286
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.026400566101074,
                "transform": {
                    "location": {
                        "x": -2499.031494140625,
                        "y": 5200.14990234375,
                        "z": 378.58612060546875
                    },
                    "rotation": {
                        "roll": 0.00015679515490774065,
                        "pitch": -0.20056165754795074,
                        "yaw": -90.03826904296875
                    }
                },
                "velocity": {
                    "x": -0.00606813607737422,
                    "y": -9.026349067687988,
                    "z": -0.0298601184040308
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.480732917785645,
                "transform": {
                    "location": {
                        "x": -2502.436767578125,
                        "y": 5192.1435546875,
                        "z": 378.55169677734375
                    },
                    "rotation": {
                        "roll": 0.0003678510256577283,
                        "pitch": -0.15438275039196014,
                        "yaw": -90.04417419433594
                    }
                },
                "velocity": {
                    "x": -0.006271969061344862,
                    "y": -8.480676651000977,
                    "z": -0.03025311417877674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.47730827331543,
                "transform": {
                    "location": {
                        "x": -2502.447509765625,
                        "y": 5174.32470703125,
                        "z": 378.49749755859375
                    },
                    "rotation": {
                        "roll": -0.0004577678337227553,
                        "pitch": -0.41085633635520935,
                        "yaw": -89.99315643310547
                    }
                },
                "velocity": {
                    "x": -0.007255843840539455,
                    "y": -8.47720718383789,
                    "z": -0.04078119993209839
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077320098876953,
                "transform": {
                    "location": {
                        "x": -2502.408447265625,
                        "y": 5146.0234375,
                        "z": 378.2990417480469
                    },
                    "rotation": {
                        "roll": 0.0010930800344794989,
                        "pitch": -0.46777230501174927,
                        "yaw": -89.56746673583984
                    }
                },
                "velocity": {
                    "x": 0.06079563498497009,
                    "y": -8.076825141906738,
                    "z": -0.06560541689395905
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.04141616821289,
                "transform": {
                    "location": {
                        "x": -2502.05810546875,
                        "y": 5127.02197265625,
                        "z": 378.1407470703125
                    },
                    "rotation": {
                        "roll": 0.0033122804015874863,
                        "pitch": -0.584500253200531,
                        "yaw": -88.49114990234375
                    }
                },
                "velocity": {
                    "x": 0.21744775772094727,
                    "y": -8.038061141967773,
                    "z": -0.08162983506917953
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.279738426208496,
                "transform": {
                    "location": {
                        "x": -2505.93994140625,
                        "y": 5188.03466796875,
                        "z": 378.5440673828125
                    },
                    "rotation": {
                        "roll": 0.0010069619165733457,
                        "pitch": -0.32224148511886597,
                        "yaw": -90.04924774169922
                    }
                },
                "velocity": {
                    "x": -0.007050740998238325,
                    "y": -8.279670715332031,
                    "z": -0.03260783106088638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.679795265197754,
                "transform": {
                    "location": {
                        "x": -2505.9501953125,
                        "y": 5170.2236328125,
                        "z": 378.4731140136719
                    },
                    "rotation": {
                        "roll": 0.00022860233730170876,
                        "pitch": -0.35751256346702576,
                        "yaw": -90.02658081054688
                    }
                },
                "velocity": {
                    "x": -0.005441763903945684,
                    "y": -7.679696559906006,
                    "z": -0.038555506616830826
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014937400817871,
                "transform": {
                    "location": {
                        "x": -2505.947021484375,
                        "y": 5152.017578125,
                        "z": 378.3915100097656
                    },
                    "rotation": {
                        "roll": -0.001464822911657393,
                        "pitch": -0.4278566837310791,
                        "yaw": -89.81331634521484
                    }
                },
                "velocity": {
                    "x": 0.028240274637937546,
                    "y": -8.014654159545898,
                    "z": -0.06111549213528633
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.066938400268555,
                "transform": {
                    "location": {
                        "x": -2505.7255859375,
                        "y": 5133.54052734375,
                        "z": 378.1953430175781
                    },
                    "rotation": {
                        "roll": -0.0018310558516532183,
                        "pitch": -0.5523710250854492,
                        "yaw": -88.78204345703125
                    }
                },
                "velocity": {
                    "x": 0.17448434233665466,
                    "y": -8.064696311950684,
                    "z": -0.07566096633672714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24496008455753326,
        "expert_target_speed": 6.264898583219283,
        "target_point": [
            24.37109047463491,
            0.7601675997768383
        ],
        "target_point_next": [
            34.56674555490232,
            1.1609764718503115
        ]
    },
    "230": {
        "acceleration": [
            0.09989142417907715,
            -4.8090362548828125,
            -0.047513097524642944
        ],
        "angular_velocity": [
            -1.1173043251037598,
            -0.09468457102775574,
            3.478734254837036
        ],
        "forward_vector": [
            -0.007044300902634859,
            -0.9999752044677734,
            -1.6689299400240998e-06
        ],
        "right_vector": [
            0.9999749064445496,
            -0.0070442999713122845,
            0.0007510113646276295
        ],
        "location": [
            -2502.79736328125,
            5155.306640625,
            378.3753967285156
        ],
        "rotation": [
            -0.04302978515625,
            -9.56226431299001e-05,
            -90.40361022949219
        ],
        "velocity": [
            -0.03185603395104408,
            -7.532196044921875,
            -0.05350975692272186
        ],
        "speed": 7.532263409230709,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.303706169128418,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.3876953125,
                5144.0107421875,
                378.2825622558594
            ],
            "velocity": [
                0.09612824022769928,
                -8.025945663452148,
                -0.06488803774118423
            ],
            "speed_kmh": 28.896420943734885,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.970458984375,
                        "y": 4941.15283203125,
                        "z": 375.85589599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.958740234375,
                        "y": 4966.009765625,
                        "z": 376.1929931640625
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.811767578125,
                        "y": 4985.6455078125,
                        "z": 376.4112548828125
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.6435546875,
                        "y": 5011.388671875,
                        "z": 376.6579284667969
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.689208984375,
                        "y": 5026.1708984375,
                        "z": 376.8172302246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.506591796875,
                        "y": 5040.9306640625,
                        "z": 376.99725341796875
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.108642578125,
                        "y": 5055.7734375,
                        "z": 377.18701171875
                    },
                    "rotation": {
                        "roll": -5.336513808629206e-08,
                        "pitch": -0.7259534597396851,
                        "yaw": -84.07304382324219
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.227294921875,
                        "y": 5067.6181640625,
                        "z": 377.3440246582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615192413330078,
                "transform": {
                    "location": {
                        "x": -2497.44677734375,
                        "y": 5098.45166015625,
                        "z": 377.7844543457031
                    },
                    "rotation": {
                        "roll": 0.006038013845682144,
                        "pitch": -0.812348484992981,
                        "yaw": -86.79781341552734
                    }
                },
                "velocity": {
                    "x": 0.5485703349113464,
                    "y": -9.598541259765625,
                    "z": -0.13785304129123688
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.230546951293945,
                "transform": {
                    "location": {
                        "x": -2498.188232421875,
                        "y": 5113.52099609375,
                        "z": 377.9718322753906
                    },
                    "rotation": {
                        "roll": -0.0033873971551656723,
                        "pitch": -0.715141236782074,
                        "yaw": -87.627685546875
                    }
                },
                "velocity": {
                    "x": 0.38846075534820557,
                    "y": -9.221651077270508,
                    "z": -0.11509454250335693
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.651937484741211,
                "transform": {
                    "location": {
                        "x": -2499.01513671875,
                        "y": 5146.1005859375,
                        "z": 378.3052978515625
                    },
                    "rotation": {
                        "roll": -0.000732455519028008,
                        "pitch": -0.4684075117111206,
                        "yaw": -89.52064514160156
                    }
                },
                "velocity": {
                    "x": 0.08150932192802429,
                    "y": -9.651264190673828,
                    "z": -0.07973349094390869
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.606513023376465,
                "transform": {
                    "location": {
                        "x": -2499.056396484375,
                        "y": 5162.30859375,
                        "z": 378.4242248535156
                    },
                    "rotation": {
                        "roll": -0.00012206876999698579,
                        "pitch": -0.5598159432411194,
                        "yaw": -90.036865234375
                    }
                },
                "velocity": {
                    "x": -0.005588768515735865,
                    "y": -8.606344223022461,
                    "z": -0.053610824048519135
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.26313591003418,
                "transform": {
                    "location": {
                        "x": -2499.043701171875,
                        "y": 5182.88037109375,
                        "z": 378.5329284667969
                    },
                    "rotation": {
                        "roll": -3.0522700399160385e-05,
                        "pitch": -0.2509138286113739,
                        "yaw": -90.0195083618164
                    }
                },
                "velocity": {
                    "x": -0.004344284534454346,
                    "y": -9.263063430786133,
                    "z": -0.03633200004696846
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.169197082519531,
                "transform": {
                    "location": {
                        "x": -2499.033447265625,
                        "y": 5197.876953125,
                        "z": 378.5783996582031
                    },
                    "rotation": {
                        "roll": 0.00030820065876469016,
                        "pitch": -0.19196245074272156,
                        "yaw": -90.03902435302734
                    }
                },
                "velocity": {
                    "x": -0.0062085664831101894,
                    "y": -9.169146537780762,
                    "z": -0.02987029030919075
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.544452667236328,
                "transform": {
                    "location": {
                        "x": -2502.4384765625,
                        "y": 5189.97509765625,
                        "z": 378.5440673828125
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": -0.1946125626564026,
                        "yaw": -90.03972625732422
                    }
                },
                "velocity": {
                    "x": -0.005859310273081064,
                    "y": -8.544389724731445,
                    "z": -0.03232957795262337
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.65242338180542,
                "transform": {
                    "location": {
                        "x": -2502.44921875,
                        "y": 5172.2890625,
                        "z": 378.486328125
                    },
                    "rotation": {
                        "roll": -0.0008545021992176771,
                        "pitch": -0.25192469358444214,
                        "yaw": -90.00975799560547
                    }
                },
                "velocity": {
                    "x": -0.0072097438387572765,
                    "y": -7.652318000793457,
                    "z": -0.039491571485996246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.026782989501953,
                "transform": {
                    "location": {
                        "x": -2502.3876953125,
                        "y": 5144.0107421875,
                        "z": 378.2825622558594
                    },
                    "rotation": {
                        "roll": -0.004699703771620989,
                        "pitch": -0.4733594059944153,
                        "yaw": -89.3885726928711
                    }
                },
                "velocity": {
                    "x": 0.09612824022769928,
                    "y": -8.025945663452148,
                    "z": -0.06488803774118423
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.042098999023438,
                "transform": {
                    "location": {
                        "x": -2502.0009765625,
                        "y": 5125.01220703125,
                        "z": 378.11962890625
                    },
                    "rotation": {
                        "roll": 0.008525886572897434,
                        "pitch": -0.6060426235198975,
                        "yaw": -88.32521057128906
                    }
                },
                "velocity": {
                    "x": 0.2551179826259613,
                    "y": -8.037568092346191,
                    "z": -0.0881134495139122
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.035752296447754,
                "transform": {
                    "location": {
                        "x": -2505.941650390625,
                        "y": 5186.1337890625,
                        "z": 378.5379333496094
                    },
                    "rotation": {
                        "roll": -0.0015563920605927706,
                        "pitch": -0.6369902491569519,
                        "yaw": -90.0482177734375
                    }
                },
                "velocity": {
                    "x": -0.004852891433984041,
                    "y": -7.035699367523193,
                    "z": -0.02694833278656006
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.56069278717041,
                "transform": {
                    "location": {
                        "x": -2505.951416015625,
                        "y": 5168.19921875,
                        "z": 378.46246337890625
                    },
                    "rotation": {
                        "roll": 0.0007799531449563801,
                        "pitch": -0.18954457342624664,
                        "yaw": -90.05651092529297
                    }
                },
                "velocity": {
                    "x": -0.0075253830291330814,
                    "y": -8.560564041137695,
                    "z": -0.04642815142869949
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.048399925231934,
                "transform": {
                    "location": {
                        "x": -2505.93798828125,
                        "y": 5150.009765625,
                        "z": 378.3760986328125
                    },
                    "rotation": {
                        "roll": -0.005462652537971735,
                        "pitch": -0.45032116770744324,
                        "yaw": -89.71211242675781
                    }
                },
                "velocity": {
                    "x": 0.055552635341882706,
                    "y": -8.04797077178955,
                    "z": -0.06181678548455238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.916818618774414,
                "transform": {
                    "location": {
                        "x": -2505.68408203125,
                        "y": 5131.63623046875,
                        "z": 378.1773681640625
                    },
                    "rotation": {
                        "roll": -0.0004883304354734719,
                        "pitch": -0.582669734954834,
                        "yaw": -88.64735412597656
                    }
                },
                "velocity": {
                    "x": 0.15924827754497528,
                    "y": -6.914651870727539,
                    "z": -0.06787541508674622
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20401199162006378,
        "expert_target_speed": 7.909274241503394,
        "target_point": [
            22.69770333617461,
            0.641242294839311
        ],
        "target_point_next": [
            32.895187747159,
            0.9924430286737619
        ]
    },
    "235": {
        "acceleration": [
            0.1679375022649765,
            -0.09458541870117188,
            -0.01925148069858551
        ],
        "angular_velocity": [
            1.1659687757492065,
            0.17342312633991241,
            -1.370863676071167
        ],
        "forward_vector": [
            -0.002164165722206235,
            -0.9999969005584717,
            0.0012650485150516033
        ],
        "right_vector": [
            0.9999972581863403,
            -0.002162988530471921,
            0.00093104038387537
        ],
        "location": [
            -2502.801513671875,
            5153.2548828125,
            378.3604736328125
        ],
        "rotation": [
            -0.0533447302877903,
            0.07248196005821228,
            -90.1240005493164
        ],
        "velocity": [
            0.006032839883118868,
            -8.586396217346191,
            -0.06289876997470856
        ],
        "speed": 8.586398336695895,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.266229629516602,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.36376953125,
                5141.99755859375,
                378.2657470703125
            ],
            "velocity": [
                0.10139766335487366,
                -8.077028274536133,
                -0.06777902692556381
            ],
            "speed_kmh": 29.08061666375803,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -2499.0205078125,
                        "y": 5218.5,
                        "z": 378.79205322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1476755142211914,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.708984375,
                        "y": 4938.6669921875,
                        "z": 375.8205871582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.626220703125,
                        "y": 4963.53125,
                        "z": 376.1622619628906
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.44287109375,
                        "y": 4983.1728515625,
                        "z": 376.3863830566406
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.278564453125,
                        "y": 5008.916015625,
                        "z": 376.633544921875
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.36083984375,
                        "y": 5023.69384765625,
                        "z": 376.7890930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.21826171875,
                        "y": 5038.44921875,
                        "z": 376.9657287597656
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.857177734375,
                        "y": 5053.287109375,
                        "z": 377.1547546386719
                    },
                    "rotation": {
                        "roll": -5.336513808629206e-08,
                        "pitch": -0.7259534597396851,
                        "yaw": -84.07304382324219
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.001708984375,
                        "y": 5065.12841796875,
                        "z": 377.31060791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.621743202209473,
                "transform": {
                    "location": {
                        "x": -2497.30908203125,
                        "y": 5096.05126953125,
                        "z": 377.7496337890625
                    },
                    "rotation": {
                        "roll": 0.007291060406714678,
                        "pitch": -0.8316301107406616,
                        "yaw": -86.67515563964844
                    }
                },
                "velocity": {
                    "x": 0.5818256735801697,
                    "y": -9.603133201599121,
                    "z": -0.1387520581483841
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.259045600891113,
                "transform": {
                    "location": {
                        "x": -2498.09130859375,
                        "y": 5111.21630859375,
                        "z": 377.94287109375
                    },
                    "rotation": {
                        "roll": 0.001494543976150453,
                        "pitch": -0.7264042496681213,
                        "yaw": -87.57183837890625
                    }
                },
                "velocity": {
                    "x": 0.39150092005729675,
                    "y": -9.250028610229492,
                    "z": -0.11672575771808624
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.6992826461792,
                "transform": {
                    "location": {
                        "x": -2498.990478515625,
                        "y": 5143.68115234375,
                        "z": 378.28533935546875
                    },
                    "rotation": {
                        "roll": -0.0018310333834961057,
                        "pitch": -0.4736940860748291,
                        "yaw": -89.35640716552734
                    }
                },
                "velocity": {
                    "x": 0.1162644773721695,
                    "y": -9.69824504852295,
                    "z": -0.08128951489925385
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.996244430541992,
                "transform": {
                    "location": {
                        "x": -2499.057373046875,
                        "y": 5160.0849609375,
                        "z": 378.4092102050781
                    },
                    "rotation": {
                        "roll": -0.0034485096111893654,
                        "pitch": -0.35045698285102844,
                        "yaw": -90.0257568359375
                    }
                },
                "velocity": {
                    "x": -0.0024320287629961967,
                    "y": -8.996060371398926,
                    "z": -0.05745316669344902
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.705413818359375,
                "transform": {
                    "location": {
                        "x": -2499.044921875,
                        "y": 5180.515625,
                        "z": 378.52276611328125
                    },
                    "rotation": {
                        "roll": 0.0014654563274234533,
                        "pitch": -0.18084974586963654,
                        "yaw": -90.0460433959961
                    }
                },
                "velocity": {
                    "x": -0.0068822260946035385,
                    "y": -9.705337524414062,
                    "z": -0.03795801103115082
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.053109169006348,
                "transform": {
                    "location": {
                        "x": -2499.03515625,
                        "y": 5195.6005859375,
                        "z": 378.5705261230469
                    },
                    "rotation": {
                        "roll": -0.00036621122853830457,
                        "pitch": -0.20748747885227203,
                        "yaw": -90.04088592529297
                    }
                },
                "velocity": {
                    "x": -0.005636184476315975,
                    "y": -9.053048133850098,
                    "z": -0.03297138214111328
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.091985702514648,
                "transform": {
                    "location": {
                        "x": -2502.439697265625,
                        "y": 5188.0224609375,
                        "z": 378.53741455078125
                    },
                    "rotation": {
                        "roll": 0.0009544371860101819,
                        "pitch": -0.2840607166290283,
                        "yaw": -90.04273986816406
                    }
                },
                "velocity": {
                    "x": -0.005300781223922968,
                    "y": -7.091928958892822,
                    "z": -0.02789287082850933
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.167472839355469,
                "transform": {
                    "location": {
                        "x": -2502.4501953125,
                        "y": 5170.46728515625,
                        "z": 378.4769592285156
                    },
                    "rotation": {
                        "roll": 0.00011754160368582234,
                        "pitch": -0.23571664094924927,
                        "yaw": -90.06584930419922
                    }
                },
                "velocity": {
                    "x": -0.005479021463543177,
                    "y": -7.1673784255981445,
                    "z": -0.036344315856695175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077949523925781,
                "transform": {
                    "location": {
                        "x": -2502.36376953125,
                        "y": 5141.99755859375,
                        "z": 378.2657470703125
                    },
                    "rotation": {
                        "roll": -0.0007934508030302823,
                        "pitch": -0.48400765657424927,
                        "yaw": -89.30136108398438
                    }
                },
                "velocity": {
                    "x": 0.10139766335487366,
                    "y": -8.077028274536133,
                    "z": -0.06777902692556381
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.04113483428955,
                "transform": {
                    "location": {
                        "x": -2501.9375,
                        "y": 5123.0029296875,
                        "z": 378.0978698730469
                    },
                    "rotation": {
                        "roll": 0.003636095440015197,
                        "pitch": -0.6313211917877197,
                        "yaw": -88.22944641113281
                    }
                },
                "velocity": {
                    "x": 0.2569468319416046,
                    "y": -8.036543846130371,
                    "z": -0.08826969563961029
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.175349712371826,
                "transform": {
                    "location": {
                        "x": -2505.94287109375,
                        "y": 5184.384765625,
                        "z": 378.5302734375
                    },
                    "rotation": {
                        "roll": -1.3340506477277358e-08,
                        "pitch": -0.38074204325675964,
                        "yaw": -90.04669189453125
                    }
                },
                "velocity": {
                    "x": -0.005847729276865721,
                    "y": -7.175300598144531,
                    "z": -0.025869902223348618
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023543357849121,
                "transform": {
                    "location": {
                        "x": -2505.95361328125,
                        "y": 5166.1015625,
                        "z": 378.4507751464844
                    },
                    "rotation": {
                        "roll": 0.0004239750560373068,
                        "pitch": -0.38906803727149963,
                        "yaw": -90.03677368164062
                    }
                },
                "velocity": {
                    "x": -0.006922012194991112,
                    "y": -8.023408889770508,
                    "z": -0.045944660902023315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9879841804504395,
                "transform": {
                    "location": {
                        "x": -2505.924072265625,
                        "y": 5148.0029296875,
                        "z": 378.36041259765625
                    },
                    "rotation": {
                        "roll": -0.0034485282376408577,
                        "pitch": -0.4577592611312866,
                        "yaw": -89.59661865234375
                    }
                },
                "velocity": {
                    "x": 0.06081436946988106,
                    "y": -7.987494468688965,
                    "z": -0.06420521438121796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.875543117523193,
                "transform": {
                    "location": {
                        "x": -2505.643310546875,
                        "y": 5129.939453125,
                        "z": 378.1605529785156
                    },
                    "rotation": {
                        "roll": -0.002960189012810588,
                        "pitch": -0.5880109667778015,
                        "yaw": -88.544189453125
                    }
                },
                "velocity": {
                    "x": 0.17935025691986084,
                    "y": -6.872861385345459,
                    "z": -0.06855262815952301
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1899086982011795,
        "expert_target_speed": 8.748581627678682,
        "target_point": [
            20.648793479469557,
            0.5304345273909479
        ],
        "target_point_next": [
            30.847866423678536,
            0.8319993569381889
        ]
    },
    "240": {
        "acceleration": [
            -0.08755019307136536,
            -6.407604217529297,
            -0.047227442264556885
        ],
        "angular_velocity": [
            -0.5595738887786865,
            0.19969244301319122,
            0.07398467510938644
        ],
        "forward_vector": [
            0.0009486179915256798,
            -0.9999935030937195,
            0.003470771247521043
        ],
        "right_vector": [
            0.999999463558197,
            0.0009500341257080436,
            0.000406396109610796
        ],
        "location": [
            -2502.799072265625,
            5150.908203125,
            378.34222412109375
        ],
        "rotation": [
            -0.023284921422600746,
            0.19886094331741333,
            -89.94564819335938
        ],
        "velocity": [
            0.008244141936302185,
            -10.284003257751465,
            -0.07914676517248154
        ],
        "speed": 10.284006562197392,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.980422019958496,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.335205078125,
                5139.93798828125,
                378.24798583984375
            ],
            "velocity": [
                0.14073874056339264,
                -8.57496452331543,
                -0.07382437586784363
            ],
            "speed_kmh": 30.87517370217711,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.013618952594697475,
                "transform": {
                    "location": {
                        "x": -2499.0205078125,
                        "y": 5218.5,
                        "z": 378.630859375
                    },
                    "rotation": {
                        "roll": -0.00042724842205643654,
                        "pitch": -0.14776431024074554,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": -0.00010302574082743376,
                    "y": 2.39746459556045e-05,
                    "z": -0.01361854188144207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.46240234375,
                        "y": 4936.1787109375,
                        "z": 375.78436279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.30126953125,
                        "y": 4961.05322265625,
                        "z": 376.1307067871094
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.07421875,
                        "y": 4980.7001953125,
                        "z": 376.36041259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.911865234375,
                        "y": 5006.4423828125,
                        "z": 376.6094970703125
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.02880859375,
                        "y": 5021.2158203125,
                        "z": 376.7613830566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.922119140625,
                        "y": 5035.966796875,
                        "z": 376.93463134765625
                    },
                    "rotation": {
                        "roll": -2.6682299036906443e-08,
                        "pitch": -0.6788319945335388,
                        "yaw": -82.86524200439453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.59716796875,
                        "y": 5050.80126953125,
                        "z": 377.1228942871094
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.775146484375,
                        "y": 5062.6396484375,
                        "z": 377.2772216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618850708007812,
                "transform": {
                    "location": {
                        "x": -2497.162109375,
                        "y": 5093.650390625,
                        "z": 377.714599609375
                    },
                    "rotation": {
                        "roll": 0.005632434505969286,
                        "pitch": -0.8340753316879272,
                        "yaw": -86.5081787109375
                    }
                },
                "velocity": {
                    "x": 0.5971344709396362,
                    "y": -9.599286079406738,
                    "z": -0.139363095164299
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.315071105957031,
                "transform": {
                    "location": {
                        "x": -2497.986083984375,
                        "y": 5108.89306640625,
                        "z": 377.9132385253906
                    },
                    "rotation": {
                        "roll": -0.0036621643230319023,
                        "pitch": -0.7363899946212769,
                        "yaw": -87.36656951904297
                    }
                },
                "velocity": {
                    "x": 0.4376661479473114,
                    "y": -9.303958892822266,
                    "z": -0.12386922538280487
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.670913696289062,
                "transform": {
                    "location": {
                        "x": -2498.960693359375,
                        "y": 5141.26025390625,
                        "z": 378.26495361328125
                    },
                    "rotation": {
                        "roll": -0.0014038424706086516,
                        "pitch": -0.49261370301246643,
                        "yaw": -89.24227905273438
                    }
                },
                "velocity": {
                    "x": 0.12852558493614197,
                    "y": -9.669699668884277,
                    "z": -0.0834689810872078
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.932851791381836,
                "transform": {
                    "location": {
                        "x": -2499.0576171875,
                        "y": 5157.63330078125,
                        "z": 378.3921813964844
                    },
                    "rotation": {
                        "roll": -0.004486090503633022,
                        "pitch": -0.12292973697185516,
                        "yaw": -89.99687957763672
                    }
                },
                "velocity": {
                    "x": 0.0004952657618559897,
                    "y": -9.9326171875,
                    "z": -0.06825590133666992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.494123458862305,
                "transform": {
                    "location": {
                        "x": -2499.047119140625,
                        "y": 5178.12109375,
                        "z": 378.5135498046875
                    },
                    "rotation": {
                        "roll": 0.0013653433416038752,
                        "pitch": -0.24611902236938477,
                        "yaw": -90.02580261230469
                    }
                },
                "velocity": {
                    "x": -0.0061208102852106094,
                    "y": -9.494044303894043,
                    "z": -0.038308098912239075
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.304366111755371,
                "transform": {
                    "location": {
                        "x": -2499.037109375,
                        "y": 5193.30517578125,
                        "z": 378.56207275390625
                    },
                    "rotation": {
                        "roll": -0.000518804183229804,
                        "pitch": -0.20550672709941864,
                        "yaw": -90.03915405273438
                    }
                },
                "velocity": {
                    "x": -0.00639790715649724,
                    "y": -9.304304122924805,
                    "z": -0.033253416419029236
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.164016246795654,
                "transform": {
                    "location": {
                        "x": -2502.440673828125,
                        "y": 5186.373046875,
                        "z": 378.53118896484375
                    },
                    "rotation": {
                        "roll": -0.001129156444221735,
                        "pitch": -0.28750312328338623,
                        "yaw": -90.0399169921875
                    }
                },
                "velocity": {
                    "x": -0.0044183009304106236,
                    "y": -6.163967132568359,
                    "z": -0.024243731051683426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.0395026206970215,
                "transform": {
                    "location": {
                        "x": -2502.451904296875,
                        "y": 5168.86669921875,
                        "z": 378.4683532714844
                    },
                    "rotation": {
                        "roll": -0.0002441407705191523,
                        "pitch": -0.2033347189426422,
                        "yaw": -89.93319702148438
                    }
                },
                "velocity": {
                    "x": -0.0036567538045346737,
                    "y": -6.0394110679626465,
                    "z": -0.03296709433197975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.576436996459961,
                "transform": {
                    "location": {
                        "x": -2502.335205078125,
                        "y": 5139.93798828125,
                        "z": 378.24798583984375
                    },
                    "rotation": {
                        "roll": -0.003997795283794403,
                        "pitch": -0.4688446521759033,
                        "yaw": -89.17929077148438
                    }
                },
                "velocity": {
                    "x": 0.14073874056339264,
                    "y": -8.57496452331543,
                    "z": -0.07382437586784363
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.443689346313477,
                "transform": {
                    "location": {
                        "x": -2501.87158203125,
                        "y": 5120.9599609375,
                        "z": 378.0756530761719
                    },
                    "rotation": {
                        "roll": 0.006655635312199593,
                        "pitch": -0.6615515947341919,
                        "yaw": -88.12419891357422
                    }
                },
                "velocity": {
                    "x": 0.29972946643829346,
                    "y": -8.43785285949707,
                    "z": -0.09326992183923721
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.213212966918945,
                "transform": {
                    "location": {
                        "x": -2505.944580078125,
                        "y": 5182.44873046875,
                        "z": 378.5215148925781
                    },
                    "rotation": {
                        "roll": 0.00030673653236590326,
                        "pitch": 0.026699207723140717,
                        "yaw": -90.04606628417969
                    }
                },
                "velocity": {
                    "x": -0.006631017662584782,
                    "y": -8.213153839111328,
                    "z": -0.03041982650756836
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021071434020996,
                "transform": {
                    "location": {
                        "x": -2505.95556640625,
                        "y": 5164.12744140625,
                        "z": 378.4391784667969
                    },
                    "rotation": {
                        "roll": 0.0007036562892608345,
                        "pitch": -0.3543638586997986,
                        "yaw": -90.06011962890625
                    }
                },
                "velocity": {
                    "x": -0.006497692316770554,
                    "y": -8.020939826965332,
                    "z": -0.045583415776491165
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.1439924240112305,
                "transform": {
                    "location": {
                        "x": -2505.91015625,
                        "y": 5146.10693359375,
                        "z": 378.34564208984375
                    },
                    "rotation": {
                        "roll": 2.0464789486140944e-05,
                        "pitch": -0.5383623242378235,
                        "yaw": -89.56201171875
                    }
                },
                "velocity": {
                    "x": 0.054389242082834244,
                    "y": -7.143548488616943,
                    "z": -0.05815596505999565
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.753093242645264,
                "transform": {
                    "location": {
                        "x": -2505.59521484375,
                        "y": 5128.1181640625,
                        "z": 378.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0022277894895523787,
                        "pitch": -0.562623143196106,
                        "yaw": -88.4210205078125
                    }
                },
                "velocity": {
                    "x": 0.2136048525571823,
                    "y": -7.749748229980469,
                    "z": -0.07893525063991547
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.16157236695289612,
        "expert_target_speed": 0,
        "target_point": [
            18.303685520468516,
            0.4650356879463003
        ],
        "target_point_next": [
            28.50366043893073,
            0.7343717799526798
        ]
    },
    "245": {
        "acceleration": [
            -0.08714419603347778,
            -4.539737701416016,
            -0.04179656505584717
        ],
        "angular_velocity": [
            0.37688761949539185,
            0.16893818974494934,
            -0.8382800817489624
        ],
        "forward_vector": [
            -0.0006254131440073252,
            -0.9999958872795105,
            0.0027999840676784515
        ],
        "right_vector": [
            0.9999998211860657,
            -0.0006260187947191298,
            -0.000215422929613851
        ],
        "location": [
            -2502.799560546875,
            5148.1669921875,
            378.3209228515625
        ],
        "rotation": [
            0.012342873029410839,
            0.16042748093605042,
            -90.03583526611328
        ],
        "velocity": [
            -0.011567196808755398,
            -11.541465759277344,
            -0.09170365333557129
        ],
        "speed": 11.541471555768501,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.507497787475586,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.298095703125,
                5137.671875,
                378.2283630371094
            ],
            "velocity": [
                0.15874110162258148,
                -9.228639602661133,
                -0.0817408412694931
            ],
            "speed_kmh": 33.22932008135172,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.02950671873986721,
                "transform": {
                    "location": {
                        "x": -2499.0205078125,
                        "y": 5218.5,
                        "z": 378.63983154296875
                    },
                    "rotation": {
                        "roll": -0.0003662100643850863,
                        "pitch": -0.1476413607597351,
                        "yaw": -90.03717041015625
                    }
                },
                "velocity": {
                    "x": -0.00018433603690937161,
                    "y": -6.802025745855644e-05,
                    "z": 0.02950606495141983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.217529296875,
                        "y": 4933.69091796875,
                        "z": 375.74810791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.98388671875,
                        "y": 4958.57275390625,
                        "z": 376.0984802246094
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.70556640625,
                        "y": 4978.2275390625,
                        "z": 376.33404541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.54345703125,
                        "y": 5003.97021484375,
                        "z": 376.58599853515625
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.68798828125,
                        "y": 5018.740234375,
                        "z": 376.7344970703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.617919921875,
                        "y": 5033.486328125,
                        "z": 376.9040832519531
                    },
                    "rotation": {
                        "roll": -2.6682299036906443e-08,
                        "pitch": -0.6788319945335388,
                        "yaw": -82.86524200439453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.33349609375,
                        "y": 5048.3154296875,
                        "z": 377.0911560058594
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.537353515625,
                        "y": 5060.1513671875,
                        "z": 377.2444152832031
                    },
                    "rotation": {
                        "roll": 2.6682641873776447e-08,
                        "pitch": -0.7387053966522217,
                        "yaw": -84.35952758789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.61837100982666,
                "transform": {
                    "location": {
                        "x": -2497.01220703125,
                        "y": 5091.2509765625,
                        "z": 377.6796875
                    },
                    "rotation": {
                        "roll": 0.0092697748914361,
                        "pitch": -0.8282082080841064,
                        "yaw": -86.38494110107422
                    }
                },
                "velocity": {
                    "x": 0.6295419335365295,
                    "y": -9.596734046936035,
                    "z": -0.1394059956073761
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.23831844329834,
                "transform": {
                    "location": {
                        "x": -2497.876953125,
                        "y": 5106.57861328125,
                        "z": 377.8826904296875
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": -0.7763329148292542,
                        "yaw": -87.27715301513672
                    }
                },
                "velocity": {
                    "x": 0.4403177499771118,
                    "y": -9.226987838745117,
                    "z": -0.12385709583759308
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.69329833984375,
                "transform": {
                    "location": {
                        "x": -2498.92431640625,
                        "y": 5138.84033203125,
                        "z": 378.2440185546875
                    },
                    "rotation": {
                        "roll": -0.002197268884629011,
                        "pitch": -0.4967937767505646,
                        "yaw": -89.07595825195312
                    }
                },
                "velocity": {
                    "x": 0.16371576488018036,
                    "y": -9.691551208496094,
                    "z": -0.08407945185899734
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.553825378417969,
                "transform": {
                    "location": {
                        "x": -2499.05615234375,
                        "y": 5155.2197265625,
                        "z": 378.3764343261719
                    },
                    "rotation": {
                        "roll": -0.02041623927652836,
                        "pitch": -0.4162590205669403,
                        "yaw": -89.9383316040039
                    }
                },
                "velocity": {
                    "x": 0.019507577642798424,
                    "y": -9.553558349609375,
                    "z": -0.06870187819004059
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.677794456481934,
                "transform": {
                    "location": {
                        "x": -2499.048828125,
                        "y": 5175.7255859375,
                        "z": 378.5033264160156
                    },
                    "rotation": {
                        "roll": 0.000738813541829586,
                        "pitch": -0.22921431064605713,
                        "yaw": -90.05040740966797
                    }
                },
                "velocity": {
                    "x": -0.006470379885286093,
                    "y": -9.677693367004395,
                    "z": -0.04378144070506096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.256807327270508,
                "transform": {
                    "location": {
                        "x": -2499.03857421875,
                        "y": 5190.98291015625,
                        "z": 378.5536193847656
                    },
                    "rotation": {
                        "roll": 0.0007189488387666643,
                        "pitch": -0.20864860713481903,
                        "yaw": -90.03646087646484
                    }
                },
                "velocity": {
                    "x": -0.005809212569147348,
                    "y": -9.256744384765625,
                    "z": -0.03373552858829498
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.709777355194092,
                "transform": {
                    "location": {
                        "x": -2502.440673828125,
                        "y": 5185.04150390625,
                        "z": 378.5262756347656
                    },
                    "rotation": {
                        "roll": 0.00013211002806201577,
                        "pitch": -0.30782976746559143,
                        "yaw": -90.18321990966797
                    }
                },
                "velocity": {
                    "x": -0.004986456595361233,
                    "y": -4.709742069244385,
                    "z": -0.017514122650027275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.385561466217041,
                "transform": {
                    "location": {
                        "x": -2502.452392578125,
                        "y": 5167.33154296875,
                        "z": 378.460693359375
                    },
                    "rotation": {
                        "roll": -0.0005798155325464904,
                        "pitch": -0.3352939784526825,
                        "yaw": -90.00128173828125
                    }
                },
                "velocity": {
                    "x": -0.00504627451300621,
                    "y": -6.385464191436768,
                    "z": -0.03483619540929794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.230366706848145,
                "transform": {
                    "location": {
                        "x": -2502.298095703125,
                        "y": 5137.671875,
                        "z": 378.2283630371094
                    },
                    "rotation": {
                        "roll": -0.001464855158701539,
                        "pitch": -0.45635905861854553,
                        "yaw": -89.03766632080078
                    }
                },
                "velocity": {
                    "x": 0.15874110162258148,
                    "y": -9.228639602661133,
                    "z": -0.0817408412694931
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.298962593078613,
                "transform": {
                    "location": {
                        "x": -2501.791748046875,
                        "y": 5118.7421875,
                        "z": 378.0506591796875
                    },
                    "rotation": {
                        "roll": 0.003252508584409952,
                        "pitch": -0.740228533744812,
                        "yaw": -87.97295379638672
                    }
                },
                "velocity": {
                    "x": 0.3418417274951935,
                    "y": -9.292043685913086,
                    "z": -0.1085154116153717
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.26318073272705,
                "transform": {
                    "location": {
                        "x": -2505.946533203125,
                        "y": 5180.27880859375,
                        "z": 378.5122985839844
                    },
                    "rotation": {
                        "roll": -0.0009460532455705106,
                        "pitch": 0.1934514343738556,
                        "yaw": -90.04547119140625
                    }
                },
                "velocity": {
                    "x": -0.0075026764534413815,
                    "y": -9.263103485107422,
                    "z": -0.03718816488981247
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.121078491210938,
                "transform": {
                    "location": {
                        "x": -2505.957275390625,
                        "y": 5162.06396484375,
                        "z": 378.4267578125
                    },
                    "rotation": {
                        "roll": -0.0009765613940544426,
                        "pitch": -0.34676867723464966,
                        "yaw": -90.02928924560547
                    }
                },
                "velocity": {
                    "x": -0.005475817713886499,
                    "y": -8.120911598205566,
                    "z": -0.05177316069602966
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.940220355987549,
                "transform": {
                    "location": {
                        "x": -2505.892333984375,
                        "y": 5144.37744140625,
                        "z": 378.33123779296875
                    },
                    "rotation": {
                        "roll": -0.005645718891173601,
                        "pitch": -0.506683886051178,
                        "yaw": -89.41397857666016
                    }
                },
                "velocity": {
                    "x": 0.08275669068098068,
                    "y": -6.939492702484131,
                    "z": -0.05704684555530548
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.926579475402832,
                "transform": {
                    "location": {
                        "x": -2505.538330078125,
                        "y": 5126.0810546875,
                        "z": 378.1208190917969
                    },
                    "rotation": {
                        "roll": 0.0005851552123203874,
                        "pitch": -0.5486758947372437,
                        "yaw": -88.43893432617188
                    }
                },
                "velocity": {
                    "x": 0.24958662688732147,
                    "y": -8.922579765319824,
                    "z": -0.09535200893878937
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.17760391533374786,
        "expert_target_speed": 0,
        "target_point": [
            15.561674328310772,
            0.4941405503328033
        ],
        "target_point_next": [
            25.76118613498343,
            0.7804780666670807
        ]
    },
    "250": {
        "acceleration": [
            0.09533028304576874,
            3.4020233154296875,
            0.027835071086883545
        ],
        "angular_velocity": [
            2.461193561553955,
            -0.17857475578784943,
            1.9366716146469116
        ],
        "forward_vector": [
            -0.0003077210276387632,
            -0.9999938607215881,
            -0.0034913946874439716
        ],
        "right_vector": [
            0.9999999403953552,
            -0.00030779169173911214,
            1.970736775547266e-05
        ],
        "location": [
            -2502.80126953125,
            5145.2373046875,
            378.2984924316406
        ],
        "rotation": [
            -0.0011291558621451259,
            -0.20004257559776306,
            -90.01763153076172
        ],
        "velocity": [
            0.001363360439427197,
            -11.531184196472168,
            -0.09487861394882202
        ],
        "speed": 11.531184277068906,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.8601713180542,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.257080078125,
                5135.392578125,
                378.2079162597656
            ],
            "velocity": [
                0.19204002618789673,
                -9.192352294921875,
                -0.08396769315004349
            ],
            "speed_kmh": 33.10106928396758,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02197265625,
                        "y": 5216.0,
                        "z": 378.63873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1530713587999344,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3725,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2477.986083984375,
                        "y": 4931.201171875,
                        "z": 375.7108459472656
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.673095703125,
                        "y": 4956.09228515625,
                        "z": 376.0654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.340576171875,
                        "y": 4975.75341796875,
                        "z": 376.30670166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.175048828125,
                        "y": 5001.49658203125,
                        "z": 376.56256103515625
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.34375,
                        "y": 5016.2646484375,
                        "z": 376.70806884765625
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.310546875,
                        "y": 5031.005859375,
                        "z": 376.8740234375
                    },
                    "rotation": {
                        "roll": 2.6682148046575094e-08,
                        "pitch": -0.6509989500045776,
                        "yaw": -82.57874298095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.06103515625,
                        "y": 5045.83154296875,
                        "z": 377.0596008300781
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.298583984375,
                        "y": 5057.6640625,
                        "z": 377.2115478515625
                    },
                    "rotation": {
                        "roll": 2.6682641873776447e-08,
                        "pitch": -0.7387053966522217,
                        "yaw": -84.35952758789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.61979866027832,
                "transform": {
                    "location": {
                        "x": -2496.853271484375,
                        "y": 5088.8515625,
                        "z": 377.6448059082031
                    },
                    "rotation": {
                        "roll": 0.0065857600420713425,
                        "pitch": -0.8258654475212097,
                        "yaw": -86.22738647460938
                    }
                },
                "velocity": {
                    "x": 0.6431929469108582,
                    "y": -9.597269058227539,
                    "z": -0.13875259459018707
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.301190376281738,
                "transform": {
                    "location": {
                        "x": -2497.760498046875,
                        "y": 5104.26416015625,
                        "z": 377.85150146484375
                    },
                    "rotation": {
                        "roll": -0.0040587796829640865,
                        "pitch": -0.7702267169952393,
                        "yaw": -87.07830810546875
                    }
                },
                "velocity": {
                    "x": 0.4827999770641327,
                    "y": -9.28781509399414,
                    "z": -0.12464668601751328
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.668105125427246,
                "transform": {
                    "location": {
                        "x": -2498.882568359375,
                        "y": 5136.4208984375,
                        "z": 378.2225036621094
                    },
                    "rotation": {
                        "roll": -0.0016784548060968518,
                        "pitch": -0.520781397819519,
                        "yaw": -88.96247100830078
                    }
                },
                "velocity": {
                    "x": 0.1758001148700714,
                    "y": -9.666104316711426,
                    "z": -0.08817923069000244
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.523476600646973,
                "transform": {
                    "location": {
                        "x": -2499.05029296875,
                        "y": 5153.00634765625,
                        "z": 378.36163330078125
                    },
                    "rotation": {
                        "roll": -0.018371641635894775,
                        "pitch": -0.7199087142944336,
                        "yaw": -89.83404541015625
                    }
                },
                "velocity": {
                    "x": 0.02767360582947731,
                    "y": -8.523188591003418,
                    "z": -0.06435327231884003
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.01834774017334,
                "transform": {
                    "location": {
                        "x": -2499.05029296875,
                        "y": 5173.37158203125,
                        "z": 378.4933776855469
                    },
                    "rotation": {
                        "roll": -0.0010986572597175837,
                        "pitch": -0.37872713804244995,
                        "yaw": -90.02153015136719
                    }
                },
                "velocity": {
                    "x": -0.004548888187855482,
                    "y": -9.018238067626953,
                    "z": -0.04429689422249794
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.259315490722656,
                "transform": {
                    "location": {
                        "x": -2499.0400390625,
                        "y": 5188.66259765625,
                        "z": 378.5450744628906
                    },
                    "rotation": {
                        "roll": 0.0011053377529606223,
                        "pitch": -0.21624377369880676,
                        "yaw": -90.03270721435547
                    }
                },
                "velocity": {
                    "x": -0.005200924351811409,
                    "y": -9.259255409240723,
                    "z": -0.03305497393012047
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.890655517578125,
                "transform": {
                    "location": {
                        "x": -2502.44189453125,
                        "y": 5183.85888671875,
                        "z": 378.5212097167969
                    },
                    "rotation": {
                        "roll": 0.000970575085375458,
                        "pitch": -0.23165267705917358,
                        "yaw": -90.10983276367188
                    }
                },
                "velocity": {
                    "x": -0.0027025858871638775,
                    "y": -4.890621662139893,
                    "z": -0.01800130307674408
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.926189422607422,
                "transform": {
                    "location": {
                        "x": -2502.453369140625,
                        "y": 5165.64990234375,
                        "z": 378.4515075683594
                    },
                    "rotation": {
                        "roll": 0.00020881897944491357,
                        "pitch": -0.38183486461639404,
                        "yaw": -89.9979248046875
                    }
                },
                "velocity": {
                    "x": -0.0029410754796117544,
                    "y": -6.926069259643555,
                    "z": -0.0407407283782959
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.194741249084473,
                "transform": {
                    "location": {
                        "x": -2502.257080078125,
                        "y": 5135.392578125,
                        "z": 378.2079162597656
                    },
                    "rotation": {
                        "roll": -0.003692593425512314,
                        "pitch": -0.5266417264938354,
                        "yaw": -88.928955078125
                    }
                },
                "velocity": {
                    "x": 0.19204002618789673,
                    "y": -9.192352294921875,
                    "z": -0.08396769315004349
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.186012268066406,
                "transform": {
                    "location": {
                        "x": -2501.702392578125,
                        "y": 5116.3037109375,
                        "z": 378.022216796875
                    },
                    "rotation": {
                        "roll": 0.0028758724220097065,
                        "pitch": -0.7646464705467224,
                        "yaw": -87.87886047363281
                    }
                },
                "velocity": {
                    "x": 0.37927576899528503,
                    "y": -10.17824649810791,
                    "z": -0.11952785402536392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.451248168945312,
                "transform": {
                    "location": {
                        "x": -2505.948486328125,
                        "y": 5178.05419921875,
                        "z": 378.50482177734375
                    },
                    "rotation": {
                        "roll": 0.0006103341584093869,
                        "pitch": -0.2558247148990631,
                        "yaw": -90.04167938232422
                    }
                },
                "velocity": {
                    "x": -0.005987965501844883,
                    "y": -8.451167106628418,
                    "z": -0.03638830408453941
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.237772464752197,
                "transform": {
                    "location": {
                        "x": -2505.9580078125,
                        "y": 5160.1650390625,
                        "z": 378.4146728515625
                    },
                    "rotation": {
                        "roll": -0.0015869115013629198,
                        "pitch": -0.5244697332382202,
                        "yaw": -90.04214477539062
                    }
                },
                "velocity": {
                    "x": -0.0019195596687495708,
                    "y": -7.237625598907471,
                    "z": -0.04606054350733757
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0040922164917,
                "transform": {
                    "location": {
                        "x": -2505.870361328125,
                        "y": 5142.5185546875,
                        "z": 378.31488037109375
                    },
                    "rotation": {
                        "roll": -0.0024108763318508863,
                        "pitch": -0.40362316370010376,
                        "yaw": -89.32284545898438
                    }
                },
                "velocity": {
                    "x": 0.09967516362667084,
                    "y": -8.003190994262695,
                    "z": -0.0670081153512001
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.853551864624023,
                "transform": {
                    "location": {
                        "x": -2505.46875,
                        "y": 5123.71728515625,
                        "z": 378.0958557128906
                    },
                    "rotation": {
                        "roll": -0.0024719410575926304,
                        "pitch": -0.5941171646118164,
                        "yaw": -88.28179168701172
                    }
                },
                "velocity": {
                    "x": 0.30742645263671875,
                    "y": -9.8482027053833,
                    "z": -0.10421448200941086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.19638599455356598,
        "expert_target_speed": 0,
        "target_point": [
            12.632156077865178,
            0.4894662427888394
        ],
        "target_point_next": [
            22.83176612905759,
            0.7722825636227956
        ]
    },
    "255": {
        "acceleration": [
            0.15075579285621643,
            10.508613586425781,
            0.07439583539962769
        ],
        "angular_velocity": [
            2.78299617767334,
            -0.10612047463655472,
            0.9322136044502258
        ],
        "forward_vector": [
            0.002788296202197671,
            -0.9999243021011353,
            -0.011986087076365948
        ],
        "right_vector": [
            0.9999959468841553,
            0.002781926654279232,
            0.0005480400286614895
        ],
        "location": [
            -2502.79638671875,
            5142.490234375,
            378.2774658203125
        ],
        "rotation": [
            -0.03140263631939888,
            -0.686768651008606,
            -89.8402328491211
        ],
        "velocity": [
            0.0388815738260746,
            -10.30649185180664,
            -0.08795773237943649
        ],
        "speed": 10.306565192543045,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.536332130432129,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.205810546875,
                5132.97265625,
                378.1849060058594
            ],
            "velocity": [
                0.22503447532653809,
                -10.207271575927734,
                -0.09639611095190048
            ],
            "speed_kmh": 36.75674498266197,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0234375,
                        "y": 5213.5,
                        "z": 378.6321105957031
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.369873046875,
                        "y": 4953.611328125,
                        "z": 376.03173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.977783203125,
                        "y": 4973.27978515625,
                        "z": 376.279052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.80615234375,
                        "y": 4999.0224609375,
                        "z": 376.53912353515625
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.990234375,
                        "y": 5013.7880859375,
                        "z": 376.6823425292969
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.993896484375,
                        "y": 5028.525390625,
                        "z": 376.8447265625
                    },
                    "rotation": {
                        "roll": 2.6682148046575094e-08,
                        "pitch": -0.6509989500045776,
                        "yaw": -82.57874298095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.7841796875,
                        "y": 5043.345703125,
                        "z": 377.0279541015625
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.04833984375,
                        "y": 5055.17529296875,
                        "z": 377.1792907714844
                    },
                    "rotation": {
                        "roll": -5.336513808629206e-08,
                        "pitch": -0.7259534597396851,
                        "yaw": -84.07304382324219
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618708610534668,
                "transform": {
                    "location": {
                        "x": -2496.6923828125,
                        "y": 5086.4521484375,
                        "z": 377.61029052734375
                    },
                    "rotation": {
                        "roll": 0.0023634328972548246,
                        "pitch": -0.8181473612785339,
                        "yaw": -86.13409423828125
                    }
                },
                "velocity": {
                    "x": 0.6489280462265015,
                    "y": -9.595792770385742,
                    "z": -0.13863925635814667
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.257237434387207,
                "transform": {
                    "location": {
                        "x": -2497.64013671875,
                        "y": 5101.947265625,
                        "z": 377.81951904296875
                    },
                    "rotation": {
                        "roll": -0.0005187990609556437,
                        "pitch": -0.8075537085533142,
                        "yaw": -87.0040512084961
                    }
                },
                "velocity": {
                    "x": 0.4831073582172394,
                    "y": -9.243706703186035,
                    "z": -0.13013681769371033
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.695784568786621,
                "transform": {
                    "location": {
                        "x": -2498.83447265625,
                        "y": 5134.0009765625,
                        "z": 378.2002258300781
                    },
                    "rotation": {
                        "roll": -0.0013122560922056437,
                        "pitch": -0.5455340147018433,
                        "yaw": -88.79537963867188
                    }
                },
                "velocity": {
                    "x": 0.2112787812948227,
                    "y": -9.693052291870117,
                    "z": -0.09133786708116531
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.988869667053223,
                "transform": {
                    "location": {
                        "x": -2499.04248046875,
                        "y": 5150.81640625,
                        "z": 378.34375
                    },
                    "rotation": {
                        "roll": -0.022308364510536194,
                        "pitch": -0.436339795589447,
                        "yaw": -89.77925872802734
                    }
                },
                "velocity": {
                    "x": 0.047710586339235306,
                    "y": -8.988469123840332,
                    "z": -0.0702294111251831
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.985983848571777,
                "transform": {
                    "location": {
                        "x": -2499.05126953125,
                        "y": 5171.1474609375,
                        "z": 378.4820556640625
                    },
                    "rotation": {
                        "roll": -0.0001525753759779036,
                        "pitch": -0.3802434504032135,
                        "yaw": -90.04238891601562
                    }
                },
                "velocity": {
                    "x": -0.006021865643560886,
                    "y": -8.985868453979492,
                    "z": -0.04517379775643349
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.692688941955566,
                "transform": {
                    "location": {
                        "x": -2499.040771484375,
                        "y": 5186.42578125,
                        "z": 378.5367431640625
                    },
                    "rotation": {
                        "roll": 0.00030912182410247624,
                        "pitch": -0.22701498866081238,
                        "yaw": -90.03378295898438
                    }
                },
                "velocity": {
                    "x": -0.005391059909015894,
                    "y": -8.692626953125,
                    "z": -0.03233281895518303
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.82879638671875,
                "transform": {
                    "location": {
                        "x": -2502.44287109375,
                        "y": 5182.4921875,
                        "z": 378.51568603515625
                    },
                    "rotation": {
                        "roll": 0.00032714352710172534,
                        "pitch": -0.1719636619091034,
                        "yaw": -90.11669921875
                    }
                },
                "velocity": {
                    "x": -0.005617853719741106,
                    "y": -5.8287506103515625,
                    "z": -0.022467689588665962
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.961337089538574,
                "transform": {
                    "location": {
                        "x": -2502.454833984375,
                        "y": 5163.59033203125,
                        "z": 378.4403381347656
                    },
                    "rotation": {
                        "roll": -0.0014648366486653686,
                        "pitch": -0.4951203763484955,
                        "yaw": -90.0365219116211
                    }
                },
                "velocity": {
                    "x": -0.007802098989486694,
                    "y": -8.961180686950684,
                    "z": -0.05232073739171028
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.210206985473633,
                "transform": {
                    "location": {
                        "x": -2502.205810546875,
                        "y": 5132.97265625,
                        "z": 378.1849060058594
                    },
                    "rotation": {
                        "roll": -0.0037536730524152517,
                        "pitch": -0.4905441701412201,
                        "yaw": -88.76018524169922
                    }
                },
                "velocity": {
                    "x": 0.22503447532653809,
                    "y": -10.207271575927734,
                    "z": -0.09639611095190048
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.054705619812012,
                "transform": {
                    "location": {
                        "x": -2501.59521484375,
                        "y": 5113.64599609375,
                        "z": 377.990234375
                    },
                    "rotation": {
                        "roll": 0.006907808128744364,
                        "pitch": -0.7836685180664062,
                        "yaw": -87.68157196044922
                    }
                },
                "velocity": {
                    "x": 0.4621667265892029,
                    "y": -11.044194221496582,
                    "z": -0.1366955190896988
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.943402290344238,
                "transform": {
                    "location": {
                        "x": -2505.94970703125,
                        "y": 5176.12158203125,
                        "z": 378.4981994628906
                    },
                    "rotation": {
                        "roll": -0.0014953569043427706,
                        "pitch": -0.6817962527275085,
                        "yaw": -90.03384399414062
                    }
                },
                "velocity": {
                    "x": -0.003048391779884696,
                    "y": -6.9433417320251465,
                    "z": -0.028934286907315254
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.698751449584961,
                "transform": {
                    "location": {
                        "x": -2505.9580078125,
                        "y": 5158.3212890625,
                        "z": 378.40240478515625
                    },
                    "rotation": {
                        "roll": -0.0021362213883548975,
                        "pitch": -0.3498491048812866,
                        "yaw": -89.99048614501953
                    }
                },
                "velocity": {
                    "x": 0.0014999950071796775,
                    "y": -7.698586940765381,
                    "z": -0.050276901572942734
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.393272399902344,
                "transform": {
                    "location": {
                        "x": -2505.841796875,
                        "y": 5140.34033203125,
                        "z": 378.2960205078125
                    },
                    "rotation": {
                        "roll": -0.011444111354649067,
                        "pitch": -0.35751256346702576,
                        "yaw": -89.22305297851562
                    }
                },
                "velocity": {
                    "x": 0.14925625920295715,
                    "y": -9.391745567321777,
                    "z": -0.08002057671546936
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.552316665649414,
                "transform": {
                    "location": {
                        "x": -2505.388427734375,
                        "y": 5121.1630859375,
                        "z": 378.0679931640625
                    },
                    "rotation": {
                        "roll": -0.0018615706358104944,
                        "pitch": -0.6058036088943481,
                        "yaw": -88.1129150390625
                    }
                },
                "velocity": {
                    "x": 0.34598657488822937,
                    "y": -10.546008110046387,
                    "z": -0.11575158685445786
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.22735531628131866,
        "expert_target_speed": 0,
        "target_point": [
            9.886552374832082,
            0.45270587160140696
        ],
        "target_point_next": [
            20.08699734815432,
            0.7036094665148828
        ]
    },
    "260": {
        "acceleration": [
            0.29560625553131104,
            1.3397216796875,
            0.010674148797988892
        ],
        "angular_velocity": [
            -0.8757712244987488,
            -0.06351500749588013,
            4.29329776763916
        ],
        "forward_vector": [
            0.009848813526332378,
            -0.9998006820678711,
            -0.017365533858537674
        ],
        "right_vector": [
            0.9999507665634155,
            0.009825992397964,
            0.001399013097397983
        ],
        "location": [
            -2502.77880859375,
            5140.14208984375,
            378.258544921875
        ],
        "rotation": [
            -0.0801696628332138,
            -0.9950218796730042,
            -89.43560791015625
        ],
        "velocity": [
            0.11184336245059967,
            -8.998167991638184,
            -0.07722029834985733
        ],
        "speed": 8.998863047266926,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.886107444763184,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.14453125,
                5130.27685546875,
                378.15869140625
            ],
            "velocity": [
                0.28909459710121155,
                -11.243226051330566,
                -0.11250288039445877
            ],
            "speed_kmh": 40.491017343928654,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.025146484375,
                        "y": 5211.0,
                        "z": 378.6253967285156
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.07763671875,
                        "y": 4951.12841796875,
                        "z": 375.9969177246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.625244140625,
                        "y": 4970.8046875,
                        "z": 376.25018310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.4375,
                        "y": 4996.5498046875,
                        "z": 376.5157775878906
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.633056640625,
                        "y": 5011.3134765625,
                        "z": 376.6571350097656
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.673583984375,
                        "y": 5026.0458984375,
                        "z": 376.81573486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.498779296875,
                        "y": 5040.86181640625,
                        "z": 376.9964294433594
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.796875,
                        "y": 5052.68798828125,
                        "z": 377.14697265625
                    },
                    "rotation": {
                        "roll": -5.336513808629206e-08,
                        "pitch": -0.7259534597396851,
                        "yaw": -84.07304382324219
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.619340896606445,
                "transform": {
                    "location": {
                        "x": -2496.52294921875,
                        "y": 5084.0537109375,
                        "z": 377.575927734375
                    },
                    "rotation": {
                        "roll": 0.007686867378652096,
                        "pitch": -0.8110644221305847,
                        "yaw": -85.96405029296875
                    }
                },
                "velocity": {
                    "x": 0.691376268863678,
                    "y": -9.593474388122559,
                    "z": -0.13770313560962677
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.292083740234375,
                "transform": {
                    "location": {
                        "x": -2497.513916015625,
                        "y": 5099.6328125,
                        "z": 377.7867126464844
                    },
                    "rotation": {
                        "roll": -0.004486103542149067,
                        "pitch": -0.8180243968963623,
                        "yaw": -86.83271026611328
                    }
                },
                "velocity": {
                    "x": 0.5276859402656555,
                    "y": -9.27616024017334,
                    "z": -0.1312631517648697
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.669564247131348,
                "transform": {
                    "location": {
                        "x": -2498.78076171875,
                        "y": 5131.5810546875,
                        "z": 378.1769714355469
                    },
                    "rotation": {
                        "roll": -0.0011596387485042214,
                        "pitch": -0.5532453060150146,
                        "yaw": -88.68029022216797
                    }
                },
                "velocity": {
                    "x": 0.22367705404758453,
                    "y": -9.666497230529785,
                    "z": -0.09628654271364212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.980286598205566,
                "transform": {
                    "location": {
                        "x": -2499.027587890625,
                        "y": 5148.4404296875,
                        "z": 378.3240661621094
                    },
                    "rotation": {
                        "roll": -0.027282724156975746,
                        "pitch": -0.1609807163476944,
                        "yaw": -89.61688232421875
                    }
                },
                "velocity": {
                    "x": 0.07243454456329346,
                    "y": -9.97969913482666,
                    "z": -0.08046770095825195
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.201236724853516,
                "transform": {
                    "location": {
                        "x": -2499.052490234375,
                        "y": 5168.8583984375,
                        "z": 378.4690856933594
                    },
                    "rotation": {
                        "roll": -0.00024415450752712786,
                        "pitch": -0.22701498866081238,
                        "yaw": -90.01983642578125
                    }
                },
                "velocity": {
                    "x": -0.005181078799068928,
                    "y": -9.201101303100586,
                    "z": -0.04961675405502319
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.682124137878418,
                "transform": {
                    "location": {
                        "x": -2499.042236328125,
                        "y": 5184.2685546875,
                        "z": 378.52850341796875
                    },
                    "rotation": {
                        "roll": 0.00023112754570320249,
                        "pitch": -0.2186889797449112,
                        "yaw": -90.03887939453125
                    }
                },
                "velocity": {
                    "x": -0.0058507234789431095,
                    "y": -8.682059288024902,
                    "z": -0.03320956975221634
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.099201202392578,
                "transform": {
                    "location": {
                        "x": -2502.444580078125,
                        "y": 5180.73974609375,
                        "z": 378.5081481933594
                    },
                    "rotation": {
                        "roll": 0.00041426095413044095,
                        "pitch": -0.10311535745859146,
                        "yaw": -90.0549545288086
                    }
                },
                "velocity": {
                    "x": -0.005677416920661926,
                    "y": -8.099125862121582,
                    "z": -0.034431081265211105
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.916505813598633,
                "transform": {
                    "location": {
                        "x": -2502.45703125,
                        "y": 5161.22216796875,
                        "z": 378.42535400390625
                    },
                    "rotation": {
                        "roll": -0.0003051809035241604,
                        "pitch": -0.4684416651725769,
                        "yaw": -90.03021240234375
                    }
                },
                "velocity": {
                    "x": -0.00791710615158081,
                    "y": -9.916293144226074,
                    "z": -0.06441400200128555
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.247505187988281,
                "transform": {
                    "location": {
                        "x": -2502.14453125,
                        "y": 5130.27685546875,
                        "z": 378.15869140625
                    },
                    "rotation": {
                        "roll": -0.007232699077576399,
                        "pitch": -0.5008440613746643,
                        "yaw": -88.64403533935547
                    }
                },
                "velocity": {
                    "x": 0.28909459710121155,
                    "y": -11.243226051330566,
                    "z": -0.11250288039445877
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.901178359985352,
                "transform": {
                    "location": {
                        "x": -2501.47412109375,
                        "y": 5110.77490234375,
                        "z": 377.95452880859375
                    },
                    "rotation": {
                        "roll": 0.010949349962174892,
                        "pitch": -0.8085646033287048,
                        "yaw": -87.54663848876953
                    }
                },
                "velocity": {
                    "x": 0.5374691486358643,
                    "y": -11.888093948364258,
                    "z": -0.14959822595119476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.59877872467041,
                "transform": {
                    "location": {
                        "x": -2505.95068359375,
                        "y": 5174.4619140625,
                        "z": 378.4901428222656
                    },
                    "rotation": {
                        "roll": 0.00036105889012105763,
                        "pitch": -0.5938370823860168,
                        "yaw": -90.032470703125
                    }
                },
                "velocity": {
                    "x": -0.0036952043883502483,
                    "y": -6.5987114906311035,
                    "z": -0.029546059668064117
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.662991523742676,
                "transform": {
                    "location": {
                        "x": -2505.95751953125,
                        "y": 5156.248046875,
                        "z": 378.3885192871094
                    },
                    "rotation": {
                        "roll": -0.00048827542923390865,
                        "pitch": -0.22121615707874298,
                        "yaw": -89.9897689819336
                    }
                },
                "velocity": {
                    "x": 0.0026070403400808573,
                    "y": -8.662778854370117,
                    "z": -0.060645245015621185
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.509428977966309,
                "transform": {
                    "location": {
                        "x": -2505.802490234375,
                        "y": 5137.8837890625,
                        "z": 378.27496337890625
                    },
                    "rotation": {
                        "roll": -0.005615225527435541,
                        "pitch": -0.36944490671157837,
                        "yaw": -89.05392456054688
                    }
                },
                "velocity": {
                    "x": 0.17925918102264404,
                    "y": -10.50750732421875,
                    "z": -0.09090989083051682
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.228190422058105,
                "transform": {
                    "location": {
                        "x": -2505.295166015625,
                        "y": 5118.439453125,
                        "z": 378.0371398925781
                    },
                    "rotation": {
                        "roll": -0.0027770744636654854,
                        "pitch": -0.6445580720901489,
                        "yaw": -87.89171600341797
                    }
                },
                "velocity": {
                    "x": 0.40972498059272766,
                    "y": -11.219976425170898,
                    "z": -0.128474622964859
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.256022572517395,
        "expert_target_speed": 20.0,
        "target_point": [
            7.541298675329691,
            0.3884247542164324
        ],
        "target_point_next": [
            17.743260990209336,
            0.5672967573109633
        ]
    },
    "265": {
        "acceleration": [
            0.23558080196380615,
            0.0054168701171875,
            -0.02026975154876709
        ],
        "angular_velocity": [
            -0.8743047714233398,
            0.021163873374462128,
            -0.5787692666053772
        ],
        "forward_vector": [
            0.01767841726541519,
            -0.9997857809066772,
            -0.010762125253677368
        ],
        "right_vector": [
            0.9998425245285034,
            0.017660345882177353,
            0.0017719638999551535
        ],
        "location": [
            -2502.74169921875,
            5137.85498046875,
            378.23736572265625
        ],
        "rotation": [
            -0.1015319898724556,
            -0.6166362762451172,
            -88.98699188232422
        ],
        "velocity": [
            0.19105802476406097,
            -9.284892082214355,
            -0.08137833327054977
        ],
        "speed": 9.2868576034735,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.498716354370117,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2502.068603515625,
                5127.37841796875,
                378.1295166015625
            ],
            "velocity": [
                0.3228031396865845,
                -11.91348934173584,
                -0.12197278439998627
            ],
            "speed_kmh": 42.90654944755193,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02685546875,
                        "y": 5208.5,
                        "z": 378.617919921875
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.788330078125,
                        "y": 4948.6455078125,
                        "z": 375.9620361328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.27685546875,
                        "y": 4968.3291015625,
                        "z": 376.2211608886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.068603515625,
                        "y": 4994.07666015625,
                        "z": 376.49237060546875
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.267822265625,
                        "y": 5008.84033203125,
                        "z": 376.6327209472656
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.344970703125,
                        "y": 5023.56787109375,
                        "z": 376.78759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.210205078125,
                        "y": 5038.37841796875,
                        "z": 376.96484375
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.5341796875,
                        "y": 5050.2021484375,
                        "z": 377.11517333984375
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618762016296387,
                "transform": {
                    "location": {
                        "x": -2496.350341796875,
                        "y": 5081.6552734375,
                        "z": 377.541748046875
                    },
                    "rotation": {
                        "roll": 0.0030962249729782343,
                        "pitch": -0.8089197278022766,
                        "yaw": -85.85002899169922
                    }
                },
                "velocity": {
                    "x": 0.697944700717926,
                    "y": -9.592458724975586,
                    "z": -0.13485302031040192
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.258524894714355,
                "transform": {
                    "location": {
                        "x": -2497.38232421875,
                        "y": 5097.31787109375,
                        "z": 377.7535400390625
                    },
                    "rotation": {
                        "roll": -0.0027771068271249533,
                        "pitch": -0.8254693150520325,
                        "yaw": -86.71529388427734
                    }
                },
                "velocity": {
                    "x": 0.5317042469978333,
                    "y": -9.242269515991211,
                    "z": -0.13427433371543884
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.696456909179688,
                "transform": {
                    "location": {
                        "x": -2498.721923828125,
                        "y": 5129.16162109375,
                        "z": 378.1530456542969
                    },
                    "rotation": {
                        "roll": -0.0018005174351856112,
                        "pitch": -0.5904766321182251,
                        "yaw": -88.54066467285156
                    }
                },
                "velocity": {
                    "x": 0.25636592507362366,
                    "y": -9.692574501037598,
                    "z": -0.0977240800857544
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.523985862731934,
                "transform": {
                    "location": {
                        "x": -2499.009521484375,
                        "y": 5146.00927734375,
                        "z": 378.305419921875
                    },
                    "rotation": {
                        "roll": -0.016113271936774254,
                        "pitch": -0.45608586072921753,
                        "yaw": -89.56360626220703
                    }
                },
                "velocity": {
                    "x": 0.07418148219585419,
                    "y": -9.523368835449219,
                    "z": -0.07904808968305588
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.786317825317383,
                "transform": {
                    "location": {
                        "x": -2499.0537109375,
                        "y": 5166.49169921875,
                        "z": 378.4557800292969
                    },
                    "rotation": {
                        "roll": 0.0016888896934688091,
                        "pitch": -0.21679702401161194,
                        "yaw": -90.04729461669922
                    }
                },
                "velocity": {
                    "x": -0.007120629772543907,
                    "y": -9.786160469055176,
                    "z": -0.05504567176103592
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.055501937866211,
                "transform": {
                    "location": {
                        "x": -2499.0439453125,
                        "y": 5182.0546875,
                        "z": 378.5199890136719
                    },
                    "rotation": {
                        "roll": 8.004181836440694e-06,
                        "pitch": -0.21175634860992432,
                        "yaw": -90.03939056396484
                    }
                },
                "velocity": {
                    "x": -0.006234421394765377,
                    "y": -9.055431365966797,
                    "z": -0.0351044200360775
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.439162254333496,
                "transform": {
                    "location": {
                        "x": -2502.446533203125,
                        "y": 5178.53466796875,
                        "z": 378.49932861328125
                    },
                    "rotation": {
                        "roll": -0.0004882798530161381,
                        "pitch": -0.1386733204126358,
                        "yaw": -90.06149291992188
                    }
                },
                "velocity": {
                    "x": -0.008084960281848907,
                    "y": -9.439075469970703,
                    "z": -0.03963739797472954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.508761405944824,
                "transform": {
                    "location": {
                        "x": -2502.457275390625,
                        "y": 5158.7490234375,
                        "z": 378.4083557128906
                    },
                    "rotation": {
                        "roll": -6.104607746237889e-05,
                        "pitch": -0.36886435747146606,
                        "yaw": -90.0277099609375
                    }
                },
                "velocity": {
                    "x": -0.0014072316698729992,
                    "y": -9.508544921875,
                    "z": -0.06413251161575317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.918485641479492,
                "transform": {
                    "location": {
                        "x": -2502.068603515625,
                        "y": 5127.37841796875,
                        "z": 378.1295166015625
                    },
                    "rotation": {
                        "roll": -0.003326395060867071,
                        "pitch": -0.537590503692627,
                        "yaw": -88.4511947631836
                    }
                },
                "velocity": {
                    "x": 0.3228031396865845,
                    "y": -11.91348934173584,
                    "z": -0.12197278439998627
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.721114158630371,
                "transform": {
                    "location": {
                        "x": -2501.332763671875,
                        "y": 5107.6962890625,
                        "z": 377.9149169921875
                    },
                    "rotation": {
                        "roll": 0.007163376547396183,
                        "pitch": -0.8287956118583679,
                        "yaw": -87.33753204345703
                    }
                },
                "velocity": {
                    "x": 0.5989593863487244,
                    "y": -12.705893516540527,
                    "z": -0.16813477873802185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.482937812805176,
                "transform": {
                    "location": {
                        "x": -2505.951416015625,
                        "y": 5172.71142578125,
                        "z": 378.4803771972656
                    },
                    "rotation": {
                        "roll": -0.0005188034847378731,
                        "pitch": -0.18233871459960938,
                        "yaw": -90.0294418334961
                    }
                },
                "velocity": {
                    "x": -0.0036979096475988626,
                    "y": -7.482844829559326,
                    "z": -0.037136662751436234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.163545608520508,
                "transform": {
                    "location": {
                        "x": -2505.952392578125,
                        "y": 5153.9150390625,
                        "z": 378.37213134765625
                    },
                    "rotation": {
                        "roll": -0.011779796332120895,
                        "pitch": -0.13885091245174408,
                        "yaw": -89.84528350830078
                    }
                },
                "velocity": {
                    "x": 0.029036277905106544,
                    "y": -10.163262367248535,
                    "z": -0.07008784264326096
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.452649116516113,
                "transform": {
                    "location": {
                        "x": -2505.752685546875,
                        "y": 5135.09716796875,
                        "z": 378.2500305175781
                    },
                    "rotation": {
                        "roll": -0.012847911566495895,
                        "pitch": -0.4246464967727661,
                        "yaw": -88.9198226928711
                    }
                },
                "velocity": {
                    "x": 0.2375454157590866,
                    "y": -11.449708938598633,
                    "z": -0.1043962612748146
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.899002075195312,
                "transform": {
                    "location": {
                        "x": -2505.1875,
                        "y": 5115.54736328125,
                        "z": 378.0033264160156
                    },
                    "rotation": {
                        "roll": -0.002960199024528265,
                        "pitch": -0.653410017490387,
                        "yaw": -87.72940063476562
                    }
                },
                "velocity": {
                    "x": 0.46770989894866943,
                    "y": -11.888982772827148,
                    "z": -0.13995115458965302
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21954753994941711,
        "expert_target_speed": 20.0,
        "target_point": [
            15.459754620092683,
            0.4315383916972152
        ],
        "target_point_next": [
            20.108256181832306,
            4.011523280017719
        ]
    },
    "270": {
        "acceleration": [
            0.4100608825683594,
            -5.585212707519531,
            -0.05528688430786133
        ],
        "angular_velocity": [
            -1.2854090929031372,
            -0.07869811356067657,
            1.7984791994094849
        ],
        "forward_vector": [
            0.024434946477413177,
            -0.9996963143348694,
            -0.003208035370334983
        ],
        "right_vector": [
            0.9997000694274902,
            0.024429460987448692,
            0.0017374366289004683
        ],
        "location": [
            -2502.68408203125,
            5135.3583984375,
            378.21319580078125
        ],
        "rotation": [
            -0.0995483547449112,
            -0.18380720913410187,
            -88.59983825683594
        ],
        "velocity": [
            0.28500843048095703,
            -10.754777908325195,
            -0.09810951352119446
        ],
        "speed": 10.758553697539687,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.049792289733887,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2501.98193359375,
                5124.33154296875,
                378.0976867675781
            ],
            "velocity": [
                0.3892107307910919,
                -12.429340362548828,
                -0.13416366279125214
            ],
            "speed_kmh": 44.77016314482031,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.028564453125,
                        "y": 5206.0,
                        "z": 378.61041259765625
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.51123046875,
                        "y": 4946.15966796875,
                        "z": 375.9268798828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.939208984375,
                        "y": 4965.8525390625,
                        "z": 376.1908264160156
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.7001953125,
                        "y": 4991.603515625,
                        "z": 376.4689636230469
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.90087890625,
                        "y": 5006.36767578125,
                        "z": 376.6087341308594
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.0126953125,
                        "y": 5021.0908203125,
                        "z": 376.7599792480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.9140625,
                        "y": 5035.89697265625,
                        "z": 376.93377685546875
                    },
                    "rotation": {
                        "roll": -2.6682299036906443e-08,
                        "pitch": -0.6788319945335388,
                        "yaw": -82.86524200439453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.27001953125,
                        "y": 5047.716796875,
                        "z": 377.08349609375
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.619163513183594,
                "transform": {
                    "location": {
                        "x": -2496.1689453125,
                        "y": 5079.2578125,
                        "z": 377.50799560546875
                    },
                    "rotation": {
                        "roll": 0.007515163626521826,
                        "pitch": -0.7976362705230713,
                        "yaw": -85.67694854736328
                    }
                },
                "velocity": {
                    "x": 0.7392462491989136,
                    "y": -9.589777946472168,
                    "z": -0.1340816617012024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.295232772827148,
                "transform": {
                    "location": {
                        "x": -2497.245849609375,
                        "y": 5095.0029296875,
                        "z": 377.7198791503906
                    },
                    "rotation": {
                        "roll": -0.004547127056866884,
                        "pitch": -0.8401200771331787,
                        "yaw": -86.57755279541016
                    }
                },
                "velocity": {
                    "x": 0.5722764730453491,
                    "y": -9.276610374450684,
                    "z": -0.13544301688671112
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.670414924621582,
                "transform": {
                    "location": {
                        "x": -2498.65673828125,
                        "y": 5126.74169921875,
                        "z": 378.12811279296875
                    },
                    "rotation": {
                        "roll": -0.0014648596988990903,
                        "pitch": -0.589902937412262,
                        "yaw": -88.404052734375
                    }
                },
                "velocity": {
                    "x": 0.27113041281700134,
                    "y": -9.666089057922363,
                    "z": -0.10070545971393585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.609450340270996,
                "transform": {
                    "location": {
                        "x": -2498.98583984375,
                        "y": 5143.728515625,
                        "z": 378.2876892089844
                    },
                    "rotation": {
                        "roll": -0.03509524092078209,
                        "pitch": -0.7434728741645813,
                        "yaw": -89.37356567382812
                    }
                },
                "velocity": {
                    "x": 0.1018628180027008,
                    "y": -8.608546257019043,
                    "z": -0.0720851942896843
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.4559965133667,
                "transform": {
                    "location": {
                        "x": -2499.0556640625,
                        "y": 5164.05126953125,
                        "z": 378.4425354003906
                    },
                    "rotation": {
                        "roll": -0.0002136207331204787,
                        "pitch": -0.34676867723464966,
                        "yaw": -90.02859497070312
                    }
                },
                "velocity": {
                    "x": -0.006613874342292547,
                    "y": -9.455827713012695,
                    "z": -0.05612930282950401
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.639822959899902,
                "transform": {
                    "location": {
                        "x": -2499.046142578125,
                        "y": 5179.70849609375,
                        "z": 378.5106201171875
                    },
                    "rotation": {
                        "roll": 0.000599874067120254,
                        "pitch": -0.2271447628736496,
                        "yaw": -90.03823852539062
                    }
                },
                "velocity": {
                    "x": -0.005479627288877964,
                    "y": -9.63974380493164,
                    "z": -0.038552798330783844
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.365517616271973,
                "transform": {
                    "location": {
                        "x": -2502.448486328125,
                        "y": 5176.0263671875,
                        "z": 378.4889831542969
                    },
                    "rotation": {
                        "roll": -0.0004577579384204,
                        "pitch": -0.1629956215620041,
                        "yaw": -90.02495574951172
                    }
                },
                "velocity": {
                    "x": -0.007059051189571619,
                    "y": -10.36542797088623,
                    "z": -0.04246192425489426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.242515563964844,
                "transform": {
                    "location": {
                        "x": -2502.45751953125,
                        "y": 5156.4404296875,
                        "z": 378.392578125
                    },
                    "rotation": {
                        "roll": -0.000640875892713666,
                        "pitch": -0.351502001285553,
                        "yaw": -89.97941589355469
                    }
                },
                "velocity": {
                    "x": 0.002421976299956441,
                    "y": -9.242301940917969,
                    "z": -0.06283240020275116
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.436156272888184,
                "transform": {
                    "location": {
                        "x": -2501.98193359375,
                        "y": 5124.33154296875,
                        "z": 378.0976867675781
                    },
                    "rotation": {
                        "roll": -0.008270271122455597,
                        "pitch": -0.5865219831466675,
                        "yaw": -88.28356170654297
                    }
                },
                "velocity": {
                    "x": 0.3892107307910919,
                    "y": -12.429340362548828,
                    "z": -0.13416366279125214
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.509990692138672,
                "transform": {
                    "location": {
                        "x": -2501.17333984375,
                        "y": 5104.4169921875,
                        "z": 377.8713073730469
                    },
                    "rotation": {
                        "roll": 0.014572899788618088,
                        "pitch": -0.8489924669265747,
                        "yaw": -87.13400268554688
                    }
                },
                "velocity": {
                    "x": 0.6953751444816589,
                    "y": -13.490859985351562,
                    "z": -0.18163436651229858
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.326457977294922,
                "transform": {
                    "location": {
                        "x": -2505.95263671875,
                        "y": 5170.7138671875,
                        "z": 378.4697265625
                    },
                    "rotation": {
                        "roll": -0.0013427742524072528,
                        "pitch": -0.02066132053732872,
                        "yaw": -90.02068328857422
                    }
                },
                "velocity": {
                    "x": -0.0029682349413633347,
                    "y": -8.3263521194458,
                    "z": -0.04202103614807129
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.289628982543945,
                "transform": {
                    "location": {
                        "x": -2505.94384765625,
                        "y": 5151.21533203125,
                        "z": 378.35205078125
                    },
                    "rotation": {
                        "roll": -0.00701904296875,
                        "pitch": -0.18487271666526794,
                        "yaw": -89.81307220458984
                    }
                },
                "velocity": {
                    "x": 0.037888143211603165,
                    "y": -11.289233207702637,
                    "z": -0.08661764860153198
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.717893600463867,
                "transform": {
                    "location": {
                        "x": -2505.69140625,
                        "y": 5132.2099609375,
                        "z": 378.2235412597656
                    },
                    "rotation": {
                        "roll": -0.00802608858793974,
                        "pitch": -0.49242928624153137,
                        "yaw": -88.74386596679688
                    }
                },
                "velocity": {
                    "x": 0.26037365198135376,
                    "y": -11.714479446411133,
                    "z": -0.11042715609073639
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.56879997253418,
                "transform": {
                    "location": {
                        "x": -2505.06396484375,
                        "y": 5112.48828125,
                        "z": 377.96630859375
                    },
                    "rotation": {
                        "roll": -0.0041198935359716415,
                        "pitch": -0.6946165561676025,
                        "yaw": -87.526123046875
                    }
                },
                "velocity": {
                    "x": 0.5322717428207397,
                    "y": -12.556574821472168,
                    "z": -0.1544162780046463
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1715647280216217,
        "expert_target_speed": 0,
        "target_point": [
            12.96507275092812,
            0.3304926790767038
        ],
        "target_point_next": [
            17.637654110093557,
            3.8789912365061134
        ]
    },
    "275": {
        "acceleration": [
            0.6051784753799438,
            -1.5298843383789062,
            -0.002305060625076294
        ],
        "angular_velocity": [
            0.6343474984169006,
            -0.14546504616737366,
            1.5691514015197754
        ],
        "forward_vector": [
            0.03411252051591873,
            -0.9994126558303833,
            -0.003268116619437933
        ],
        "right_vector": [
            0.9994148015975952,
            0.03410391882061958,
            0.002653024159371853
        ],
        "location": [
            -2502.59716796875,
            5132.56640625,
            378.1869812011719
        ],
        "rotation": [
            -0.1520080715417862,
            -0.18724963068962097,
            -88.04510498046875
        ],
        "velocity": [
            0.42531076073646545,
            -11.405138969421387,
            -0.10771642625331879
        ],
        "speed": 11.41306637827944,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.548022270202637,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2501.877685546875,
                5121.04150390625,
                378.0613708496094
            ],
            "velocity": [
                0.4413299858570099,
                -13.586429595947266,
                -0.1507507562637329
            ],
            "speed_kmh": 48.93995330789363,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.030029296875,
                        "y": 5203.5,
                        "z": 378.6024169921875
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.234375,
                        "y": 4943.673828125,
                        "z": 375.89178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.605712890625,
                        "y": 4963.3740234375,
                        "z": 376.16021728515625
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.33154296875,
                        "y": 4989.12939453125,
                        "z": 376.44537353515625
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.5322265625,
                        "y": 5003.89404296875,
                        "z": 376.5852966308594
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.67138671875,
                        "y": 5018.615234375,
                        "z": 376.7330627441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.610107421875,
                        "y": 5033.41650390625,
                        "z": 376.9032287597656
                    },
                    "rotation": {
                        "roll": -2.6682299036906443e-08,
                        "pitch": -0.6788319945335388,
                        "yaw": -82.86524200439453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.994384765625,
                        "y": 5045.2333984375,
                        "z": 377.0519104003906
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618629455566406,
                "transform": {
                    "location": {
                        "x": -2495.98388671875,
                        "y": 5076.8603515625,
                        "z": 377.4743957519531
                    },
                    "rotation": {
                        "roll": 0.002564557595178485,
                        "pitch": -0.7978821396827698,
                        "yaw": -85.5611801147461
                    }
                },
                "velocity": {
                    "x": 0.7456775307655334,
                    "y": -9.588744163513184,
                    "z": -0.1340719312429428
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.255927085876465,
                "transform": {
                    "location": {
                        "x": -2497.10302734375,
                        "y": 5092.689453125,
                        "z": 377.68603515625
                    },
                    "rotation": {
                        "roll": -0.0021972074173390865,
                        "pitch": -0.8369098901748657,
                        "yaw": -86.43212890625
                    }
                },
                "velocity": {
                    "x": 0.578325092792511,
                    "y": -9.236859321594238,
                    "z": -0.13471591472625732
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.69699478149414,
                "transform": {
                    "location": {
                        "x": -2498.585693359375,
                        "y": 5124.322265625,
                        "z": 378.1023254394531
                    },
                    "rotation": {
                        "roll": -0.0020751948468387127,
                        "pitch": -0.6282680630683899,
                        "yaw": -88.2540283203125
                    }
                },
                "velocity": {
                    "x": 0.30490824580192566,
                    "y": -9.691641807556152,
                    "z": -0.1040131151676178
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.933219909667969,
                "transform": {
                    "location": {
                        "x": -2498.9599609375,
                        "y": 5141.56298828125,
                        "z": 378.2685852050781
                    },
                    "rotation": {
                        "roll": -0.018432609736919403,
                        "pitch": -0.5554172992706299,
                        "yaw": -89.2921142578125
                    }
                },
                "velocity": {
                    "x": 0.1124051958322525,
                    "y": -8.932201385498047,
                    "z": -0.0745830312371254
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.173321723937988,
                "transform": {
                    "location": {
                        "x": -2499.056884765625,
                        "y": 5161.7548828125,
                        "z": 378.429443359375
                    },
                    "rotation": {
                        "roll": -0.0005188194336369634,
                        "pitch": -0.4846770167350769,
                        "yaw": -90.0499267578125
                    }
                },
                "velocity": {
                    "x": -0.005757681094110012,
                    "y": -9.173133850097656,
                    "z": -0.05838476121425629
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.070505142211914,
                "transform": {
                    "location": {
                        "x": -2499.04736328125,
                        "y": 5177.36083984375,
                        "z": 378.5010070800781
                    },
                    "rotation": {
                        "roll": -0.0005798378260806203,
                        "pitch": -0.24892623722553253,
                        "yaw": -90.0352783203125
                    }
                },
                "velocity": {
                    "x": -0.005680189002305269,
                    "y": -9.070418357849121,
                    "z": -0.03914376720786095
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.257458686828613,
                "transform": {
                    "location": {
                        "x": -2502.449951171875,
                        "y": 5173.57568359375,
                        "z": 378.4786376953125
                    },
                    "rotation": {
                        "roll": 0.0014165389584377408,
                        "pitch": -0.3179589509963989,
                        "yaw": -90.05217742919922
                    }
                },
                "velocity": {
                    "x": -0.0059206136502325535,
                    "y": -9.25734806060791,
                    "z": -0.04479189217090607
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.954085350036621,
                "transform": {
                    "location": {
                        "x": -2502.453125,
                        "y": 5154.04541015625,
                        "z": 378.3763732910156
                    },
                    "rotation": {
                        "roll": 0.003959295805543661,
                        "pitch": -0.47149476408958435,
                        "yaw": -89.89665985107422
                    }
                },
                "velocity": {
                    "x": 0.03116791881620884,
                    "y": -9.953775405883789,
                    "z": -0.07218505442142487
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.594430923461914,
                "transform": {
                    "location": {
                        "x": -2501.877685546875,
                        "y": 5121.04150390625,
                        "z": 378.0613708496094
                    },
                    "rotation": {
                        "roll": -0.003112772246822715,
                        "pitch": -0.5695762634277344,
                        "yaw": -88.1214599609375
                    }
                },
                "velocity": {
                    "x": 0.4413299858570099,
                    "y": -13.586429595947266,
                    "z": -0.1507507562637329
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.27546215057373,
                "transform": {
                    "location": {
                        "x": -2500.9931640625,
                        "y": 5100.9443359375,
                        "z": 377.82342529296875
                    },
                    "rotation": {
                        "roll": 0.008220046758651733,
                        "pitch": -0.8858345150947571,
                        "yaw": -86.98654174804688
                    }
                },
                "velocity": {
                    "x": 0.7519468665122986,
                    "y": -14.25423812866211,
                    "z": -0.2001972198486328
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.996131896972656,
                "transform": {
                    "location": {
                        "x": -2505.95361328125,
                        "y": 5168.37841796875,
                        "z": 378.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0011901857797056437,
                        "pitch": 0.2584816515445709,
                        "yaw": -90.0194091796875
                    }
                },
                "velocity": {
                    "x": -0.0035027898848056793,
                    "y": -9.995983123779297,
                    "z": -0.05446747690439224
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.663118362426758,
                "transform": {
                    "location": {
                        "x": -2505.927490234375,
                        "y": 5148.3408203125,
                        "z": 378.3297119140625
                    },
                    "rotation": {
                        "roll": -0.02038574032485485,
                        "pitch": -0.3353895843029022,
                        "yaw": -89.61748504638672
                    }
                },
                "velocity": {
                    "x": 0.07927493751049042,
                    "y": -11.662481307983398,
                    "z": -0.09262765944004059
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.456161499023438,
                "transform": {
                    "location": {
                        "x": -2505.620361328125,
                        "y": 5129.189453125,
                        "z": 378.19378662109375
                    },
                    "rotation": {
                        "roll": -0.014556866139173508,
                        "pitch": -0.5143746733665466,
                        "yaw": -88.56866455078125
                    }
                },
                "velocity": {
                    "x": 0.3283151686191559,
                    "y": -12.451210975646973,
                    "z": -0.12457960844039917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.234745979309082,
                "transform": {
                    "location": {
                        "x": -2504.923583984375,
                        "y": 5109.26318359375,
                        "z": 377.92572021484375
                    },
                    "rotation": {
                        "roll": -0.005950929131358862,
                        "pitch": -0.702430248260498,
                        "yaw": -87.34188842773438
                    }
                },
                "velocity": {
                    "x": 0.6055639982223511,
                    "y": -13.219791412353516,
                    "z": -0.17003946006298065
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1368820071220398,
        "expert_target_speed": 0,
        "target_point": [
            10.174332595331194,
            0.2133434484429091
        ],
        "target_point_next": [
            14.881048110364073,
            3.716440311312629
        ]
    },
    "280": {
        "acceleration": [
            0.3058803081512451,
            2.8017425537109375,
            0.03765881061553955
        ],
        "angular_velocity": [
            1.7101824283599854,
            -0.023192012682557106,
            3.81182599067688
        ],
        "forward_vector": [
            0.04554169252514839,
            -0.9989309310913086,
            -0.007938300259411335
        ],
        "right_vector": [
            0.9989590644836426,
            0.045519374310970306,
            0.0029698587022721767
        ],
        "location": [
            -2502.478271484375,
            5129.70458984375,
            378.159912109375
        ],
        "rotation": [
            -0.1701659858226776,
            -0.4548359215259552,
            -87.3896713256836
        ],
        "velocity": [
            0.5295583009719849,
            -11.293594360351562,
            -0.11184658110141754
        ],
        "speed": 11.306003076697483,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.140031814575195,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2501.7548828125,
                5117.5869140625,
                378.02203369140625
            ],
            "velocity": [
                0.5256274938583374,
                -14.045698165893555,
                -0.16466374695301056
            ],
            "speed_kmh": 50.60337991196861,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03173828125,
                        "y": 5201.0,
                        "z": 378.5943603515625
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.97216796875,
                        "y": 4941.1884765625,
                        "z": 375.85638427734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.280517578125,
                        "y": 4960.89599609375,
                        "z": 376.1287536621094
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.962646484375,
                        "y": 4986.65673828125,
                        "z": 376.42138671875
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.16357421875,
                        "y": 5001.4208984375,
                        "z": 376.5618591308594
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.32666015625,
                        "y": 5016.1396484375,
                        "z": 376.7066650390625
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.30224609375,
                        "y": 5030.93603515625,
                        "z": 376.8731689453125
                    },
                    "rotation": {
                        "roll": 2.6682148046575094e-08,
                        "pitch": -0.6509989500045776,
                        "yaw": -82.57874298095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.7177734375,
                        "y": 5042.75,
                        "z": 377.0204162597656
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618658065795898,
                "transform": {
                    "location": {
                        "x": -2495.790771484375,
                        "y": 5074.4638671875,
                        "z": 377.4411315917969
                    },
                    "rotation": {
                        "roll": 0.007165383081883192,
                        "pitch": -0.7864416241645813,
                        "yaw": -85.39214324951172
                    }
                },
                "velocity": {
                    "x": 0.7865405678749084,
                    "y": -9.585529327392578,
                    "z": -0.13256743550300598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.294751167297363,
                "transform": {
                    "location": {
                        "x": -2496.954833984375,
                        "y": 5090.375,
                        "z": 377.6523742675781
                    },
                    "rotation": {
                        "roll": -0.005126969888806343,
                        "pitch": -0.8313227891921997,
                        "yaw": -86.29271697998047
                    }
                },
                "velocity": {
                    "x": 0.6172252893447876,
                    "y": -9.273261070251465,
                    "z": -0.13442547619342804
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.671350479125977,
                "transform": {
                    "location": {
                        "x": -2498.508544921875,
                        "y": 5121.90234375,
                        "z": 378.0757751464844
                    },
                    "rotation": {
                        "roll": -0.0009460392175242305,
                        "pitch": -0.6344903707504272,
                        "yaw": -88.1134033203125
                    }
                },
                "velocity": {
                    "x": 0.32006147503852844,
                    "y": -9.665459632873535,
                    "z": -0.10711629688739777
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.910996437072754,
                "transform": {
                    "location": {
                        "x": -2498.926025390625,
                        "y": 5139.2421875,
                        "z": 378.24749755859375
                    },
                    "rotation": {
                        "roll": -0.0394287072122097,
                        "pitch": -0.24621464312076569,
                        "yaw": -89.123291015625
                    }
                },
                "velocity": {
                    "x": 0.16333061456680298,
                    "y": -9.90928840637207,
                    "z": -0.08463140577077866
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.567106246948242,
                "transform": {
                    "location": {
                        "x": -2499.058349609375,
                        "y": 5159.3916015625,
                        "z": 378.41259765625
                    },
                    "rotation": {
                        "roll": -0.003143331501632929,
                        "pitch": -0.30343112349510193,
                        "yaw": -90.00963592529297
                    }
                },
                "velocity": {
                    "x": -0.00040125043597072363,
                    "y": -9.566903114318848,
                    "z": -0.0623488612473011
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.938088417053223,
                "transform": {
                    "location": {
                        "x": -2499.04833984375,
                        "y": 5175.12451171875,
                        "z": 378.4912414550781
                    },
                    "rotation": {
                        "roll": -3.0509378120768815e-05,
                        "pitch": -0.25943106412887573,
                        "yaw": -90.03518676757812
                    }
                },
                "velocity": {
                    "x": -0.005494406912475824,
                    "y": -8.937990188598633,
                    "z": -0.04147944226861
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.302632331848145,
                "transform": {
                    "location": {
                        "x": -2502.451171875,
                        "y": 5171.2919921875,
                        "z": 378.4670104980469
                    },
                    "rotation": {
                        "roll": 0.00015149351384025067,
                        "pitch": -0.29861584305763245,
                        "yaw": -90.02234649658203
                    }
                },
                "velocity": {
                    "x": -0.005875411443412304,
                    "y": -9.30251407623291,
                    "z": -0.046540215611457825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.80159854888916,
                "transform": {
                    "location": {
                        "x": -2502.445068359375,
                        "y": 5151.447265625,
                        "z": 378.35736083984375
                    },
                    "rotation": {
                        "roll": 0.0014486984582617879,
                        "pitch": -0.5133364796638489,
                        "yaw": -89.80452728271484
                    }
                },
                "velocity": {
                    "x": 0.038224123418331146,
                    "y": -10.801204681396484,
                    "z": -0.08389514684677124
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.05649471282959,
                "transform": {
                    "location": {
                        "x": -2501.7548828125,
                        "y": 5117.5869140625,
                        "z": 378.02203369140625
                    },
                    "rotation": {
                        "roll": -0.009582526981830597,
                        "pitch": -0.6408629417419434,
                        "yaw": -87.8653564453125
                    }
                },
                "velocity": {
                    "x": 0.5256274938583374,
                    "y": -14.045698165893555,
                    "z": -0.16466374695301056
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.017125129699707,
                "transform": {
                    "location": {
                        "x": -2500.7890625,
                        "y": 5097.28466796875,
                        "z": 377.771240234375
                    },
                    "rotation": {
                        "roll": 0.01261707954108715,
                        "pitch": -0.8934569954872131,
                        "yaw": -86.72586059570312
                    }
                },
                "velocity": {
                    "x": 0.8632034659385681,
                    "y": -14.990740776062012,
                    "z": -0.2159287929534912
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.004478454589844,
                "transform": {
                    "location": {
                        "x": -2505.95458984375,
                        "y": 5165.75,
                        "z": 378.4421081542969
                    },
                    "rotation": {
                        "roll": 0.0001577886869199574,
                        "pitch": 0.16373328864574432,
                        "yaw": -90.02289581298828
                    }
                },
                "velocity": {
                    "x": -0.004427473060786724,
                    "y": -11.004289627075195,
                    "z": -0.06432529538869858
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.362347602844238,
                "transform": {
                    "location": {
                        "x": -2505.904541015625,
                        "y": 5145.34228515625,
                        "z": 378.3055114746094
                    },
                    "rotation": {
                        "roll": -0.0226440466940403,
                        "pitch": -0.3332517445087433,
                        "yaw": -89.51832580566406
                    }
                },
                "velocity": {
                    "x": 0.11665549874305725,
                    "y": -12.361390113830566,
                    "z": -0.10026496648788452
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.108938217163086,
                "transform": {
                    "location": {
                        "x": -2505.53466796875,
                        "y": 5125.98779296875,
                        "z": 378.1610107421875
                    },
                    "rotation": {
                        "roll": -0.007324236910790205,
                        "pitch": -0.518404483795166,
                        "yaw": -88.40978240966797
                    }
                },
                "velocity": {
                    "x": 0.363809734582901,
                    "y": -13.103160858154297,
                    "z": -0.13808707892894745
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.898146629333496,
                "transform": {
                    "location": {
                        "x": -2504.76513671875,
                        "y": 5105.8720703125,
                        "z": 377.881591796875
                    },
                    "rotation": {
                        "roll": -0.0038146115839481354,
                        "pitch": -0.7477144002914429,
                        "yaw": -87.14144897460938
                    }
                },
                "velocity": {
                    "x": 0.6738832592964172,
                    "y": -13.880555152893066,
                    "z": -0.18585330247879028
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09004063904285431,
        "expert_target_speed": 0,
        "target_point": [
            12.058329882957217,
            3.5575210890922113
        ],
        "target_point_next": [
            63.589787479917945,
            4.467807487700663
        ]
    },
    "285": {
        "acceleration": [
            0.0052165985107421875,
            11.32619857788086,
            0.12689068913459778
        ],
        "angular_velocity": [
            2.799771547317505,
            -0.039216164499521255,
            3.321016550064087
        ],
        "forward_vector": [
            0.05875233933329582,
            -0.9981542229652405,
            -0.015372146852314472
        ],
        "right_vector": [
            0.9982678890228271,
            0.05869794264435768,
            0.003966566175222397
        ],
        "location": [
            -2502.334228515625,
            5127.0234375,
            378.13421630859375
        ],
        "rotation": [
            -0.2272949367761612,
            -0.8807938098907471,
            -86.63140106201172
        ],
        "velocity": [
            0.6212760806083679,
            -9.923335075378418,
            -0.10310056805610657
        ],
        "speed": 9.942764353366305,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.049067497253418,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2501.615234375,
                5113.9951171875,
                377.9790954589844
            ],
            "velocity": [
                0.6113052368164062,
                -14.691699028015137,
                -0.18179316818714142
            ],
            "speed_kmh": 52.93992643356507,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.032958984375,
                        "y": 5198.5,
                        "z": 378.5858459472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.712646484375,
                        "y": 4938.7021484375,
                        "z": 375.8210754394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.963623046875,
                        "y": 4958.41748046875,
                        "z": 376.0964660644531
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.59375,
                        "y": 4984.18505859375,
                        "z": 376.39654541015625
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.795166015625,
                        "y": 4998.94970703125,
                        "z": 376.5384826660156
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.972900390625,
                        "y": 5013.666015625,
                        "z": 376.6810607910156
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.9853515625,
                        "y": 5028.45751953125,
                        "z": 376.8438720703125
                    },
                    "rotation": {
                        "roll": 2.6682148046575094e-08,
                        "pitch": -0.6509989500045776,
                        "yaw": -82.57874298095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.429931640625,
                        "y": 5040.2685546875,
                        "z": 376.9888610839844
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618884086608887,
                "transform": {
                    "location": {
                        "x": -2495.593994140625,
                        "y": 5072.06689453125,
                        "z": 377.4080810546875
                    },
                    "rotation": {
                        "roll": 0.0022836041171103716,
                        "pitch": -0.7830196619033813,
                        "yaw": -85.27787017822266
                    }
                },
                "velocity": {
                    "x": 0.7927483916282654,
                    "y": -9.585273742675781,
                    "z": -0.1304360032081604
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.255622863769531,
                "transform": {
                    "location": {
                        "x": -2496.80078125,
                        "y": 5088.0615234375,
                        "z": 377.6188659667969
                    },
                    "rotation": {
                        "roll": -0.0022582814563065767,
                        "pitch": -0.8301411271095276,
                        "yaw": -86.15889739990234
                    }
                },
                "velocity": {
                    "x": 0.6218826770782471,
                    "y": -9.233731269836426,
                    "z": -0.13421140611171722
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.698040962219238,
                "transform": {
                    "location": {
                        "x": -2498.42529296875,
                        "y": 5119.48291015625,
                        "z": 378.04833984375
                    },
                    "rotation": {
                        "roll": -0.0010986389825120568,
                        "pitch": -0.6578291654586792,
                        "yaw": -87.96417236328125
                    }
                },
                "velocity": {
                    "x": 0.35370177030563354,
                    "y": -9.69094467163086,
                    "z": -0.11176307499408722
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.597554206848145,
                "transform": {
                    "location": {
                        "x": -2498.884765625,
                        "y": 5136.78515625,
                        "z": 378.2265625
                    },
                    "rotation": {
                        "roll": -0.026367168873548508,
                        "pitch": -0.43796536326408386,
                        "yaw": -89.00595092773438
                    }
                },
                "velocity": {
                    "x": 0.16847600042819977,
                    "y": -9.595669746398926,
                    "z": -0.08823321014642715
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.646058082580566,
                "transform": {
                    "location": {
                        "x": -2499.058349609375,
                        "y": 5156.9951171875,
                        "z": 378.3968811035156
                    },
                    "rotation": {
                        "roll": -0.0020446523558348417,
                        "pitch": -0.348906546831131,
                        "yaw": -90.00653076171875
                    }
                },
                "velocity": {
                    "x": 0.0006362034473568201,
                    "y": -9.645841598510742,
                    "z": -0.06465981155633926
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.268760681152344,
                "transform": {
                    "location": {
                        "x": -2499.04931640625,
                        "y": 5172.84765625,
                        "z": 378.4805908203125
                    },
                    "rotation": {
                        "roll": 0.00024095388653222471,
                        "pitch": -0.2840333878993988,
                        "yaw": -90.03515625
                    }
                },
                "velocity": {
                    "x": -0.005644751712679863,
                    "y": -9.26865005493164,
                    "z": -0.0449945442378521
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.352919578552246,
                "transform": {
                    "location": {
                        "x": -2502.45263671875,
                        "y": 5168.8359375,
                        "z": 378.45404052734375
                    },
                    "rotation": {
                        "roll": -0.0002441547403577715,
                        "pitch": -0.24157695472240448,
                        "yaw": -90.04351806640625
                    }
                },
                "velocity": {
                    "x": -0.006097332574427128,
                    "y": -10.352762222290039,
                    "z": -0.05667714774608612
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.677871704101562,
                "transform": {
                    "location": {
                        "x": -2502.43017578125,
                        "y": 5148.716796875,
                        "z": 378.33544921875
                    },
                    "rotation": {
                        "roll": 0.008982444182038307,
                        "pitch": -0.46252673864364624,
                        "yaw": -89.66283416748047
                    }
                },
                "velocity": {
                    "x": 0.07866433262825012,
                    "y": -10.67724323272705,
                    "z": -0.08507132530212402
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.705534934997559,
                "transform": {
                    "location": {
                        "x": -2501.615234375,
                        "y": 5113.9951171875,
                        "z": 377.9790954589844
                    },
                    "rotation": {
                        "roll": -0.010925320908427238,
                        "pitch": -0.6490796804428101,
                        "yaw": -87.65473175048828
                    }
                },
                "velocity": {
                    "x": 0.6113052368164062,
                    "y": -14.691699028015137,
                    "z": -0.18179316818714142
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.739680290222168,
                "transform": {
                    "location": {
                        "x": -2500.5595703125,
                        "y": 5093.44384765625,
                        "z": 377.7154235839844
                    },
                    "rotation": {
                        "roll": 0.015473307110369205,
                        "pitch": -0.9078072309494019,
                        "yaw": -86.46503448486328
                    }
                },
                "velocity": {
                    "x": 0.9776617884635925,
                    "y": -15.707615852355957,
                    "z": -0.2291690707206726
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.004091262817383,
                "transform": {
                    "location": {
                        "x": -2505.95556640625,
                        "y": 5162.869140625,
                        "z": 378.4251403808594
                    },
                    "rotation": {
                        "roll": 0.0011699532624334097,
                        "pitch": 0.13422003388404846,
                        "yaw": -90.02481079101562
                    }
                },
                "velocity": {
                    "x": -0.006560483481734991,
                    "y": -12.003873825073242,
                    "z": -0.07186923921108246
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.989496231079102,
                "transform": {
                    "location": {
                        "x": -2505.869384765625,
                        "y": 5142.1640625,
                        "z": 378.2791442871094
                    },
                    "rotation": {
                        "roll": -0.024688705801963806,
                        "pitch": -0.3475336730480194,
                        "yaw": -89.2991943359375
                    }
                },
                "velocity": {
                    "x": 0.15840396285057068,
                    "y": -12.988085746765137,
                    "z": -0.1074865385890007
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.693910598754883,
                "transform": {
                    "location": {
                        "x": -2505.43310546875,
                        "y": 5122.6376953125,
                        "z": 378.12530517578125
                    },
                    "rotation": {
                        "roll": -0.014495843090116978,
                        "pitch": -0.5686951875686646,
                        "yaw": -88.16564178466797
                    }
                },
                "velocity": {
                    "x": 0.4430736303329468,
                    "y": -13.68591022491455,
                    "z": -0.1507849246263504
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.560721397399902,
                "transform": {
                    "location": {
                        "x": -2504.586669921875,
                        "y": 5102.31640625,
                        "z": 377.83349609375
                    },
                    "rotation": {
                        "roll": -0.00570678198710084,
                        "pitch": -0.7629662156105042,
                        "yaw": -86.92003631591797
                    }
                },
                "velocity": {
                    "x": 0.7617188096046448,
                    "y": -14.539382934570312,
                    "z": -0.2018062174320221
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03452128916978836,
        "expert_target_speed": 0,
        "target_point": [
            9.419363313955861,
            3.411403614127532
        ],
        "target_point_next": [
            60.95835438486767,
            3.6397515664404283
        ]
    },
    "290": {
        "acceleration": [
            -0.22786259651184082,
            4.032306671142578,
            0.04067361354827881
        ],
        "angular_velocity": [
            -0.21237817406654358,
            0.5869642496109009,
            3.766871690750122
        ],
        "forward_vector": [
            0.07031971216201782,
            -0.9972805380821228,
            -0.022060392424464226
        ],
        "right_vector": [
            0.997523307800293,
            0.07026861608028412,
            0.0030837140511721373
        ],
        "location": [
            -2502.185546875,
            5124.8095703125,
            378.112060546875
        ],
        "rotation": [
            -0.1767270863056183,
            -1.26406991481781,
            -85.96666717529297
        ],
        "velocity": [
            0.5824496150016785,
            -8.166778564453125,
            -0.08803244680166245
        ],
        "speed": 8.187522193852462,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.597498893737793,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2501.45556640625,
                5110.2314453125,
                377.9320983886719
            ],
            "velocity": [
                0.692557692527771,
                -15.360068321228027,
                -0.19357328116893768
            ],
            "speed_kmh": 55.35681096890149,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03466796875,
                        "y": 5196.0,
                        "z": 378.57733154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.4658203125,
                        "y": 4936.2138671875,
                        "z": 375.7847900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.6533203125,
                        "y": 4955.9365234375,
                        "z": 376.06341552734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.225341796875,
                        "y": 4981.7119140625,
                        "z": 376.37127685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.42626953125,
                        "y": 4996.4755859375,
                        "z": 376.51513671875
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.615234375,
                        "y": 5011.19091796875,
                        "z": 376.6558837890625
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.665283203125,
                        "y": 5025.978515625,
                        "z": 376.81500244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.14111328125,
                        "y": 5037.78662109375,
                        "z": 376.95733642578125
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618555068969727,
                "transform": {
                    "location": {
                        "x": -2495.388916015625,
                        "y": 5069.67138671875,
                        "z": 377.37542724609375
                    },
                    "rotation": {
                        "roll": 0.006491031963378191,
                        "pitch": -0.7735598683357239,
                        "yaw": -85.11181640625
                    }
                },
                "velocity": {
                    "x": 0.833388090133667,
                    "y": -9.581494331359863,
                    "z": -0.13050740957260132
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.29489517211914,
                "transform": {
                    "location": {
                        "x": -2496.643310546875,
                        "y": 5085.74853515625,
                        "z": 377.5855407714844
                    },
                    "rotation": {
                        "roll": -0.005798380821943283,
                        "pitch": -0.8179287910461426,
                        "yaw": -86.0666732788086
                    }
                },
                "velocity": {
                    "x": 0.6583613157272339,
                    "y": -9.270612716674805,
                    "z": -0.13183297216892242
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.672490119934082,
                "transform": {
                    "location": {
                        "x": -2498.336181640625,
                        "y": 5117.0634765625,
                        "z": 378.0202941894531
                    },
                    "rotation": {
                        "roll": -0.0010986444540321827,
                        "pitch": -0.6823427081108093,
                        "yaw": -87.82736206054688
                    }
                },
                "velocity": {
                    "x": 0.36837634444236755,
                    "y": -9.66478157043457,
                    "z": -0.11553525924682617
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.774779319763184,
                "transform": {
                    "location": {
                        "x": -2498.83935546875,
                        "y": 5134.453125,
                        "z": 378.20623779296875
                    },
                    "rotation": {
                        "roll": -0.04043576493859291,
                        "pitch": -0.7476529479026794,
                        "yaw": -88.83633422851562
                    }
                },
                "velocity": {
                    "x": 0.18766170740127563,
                    "y": -8.77237319946289,
                    "z": -0.08369266241788864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.529040336608887,
                "transform": {
                    "location": {
                        "x": -2499.056640625,
                        "y": 5154.5791015625,
                        "z": 378.38037109375
                    },
                    "rotation": {
                        "roll": -0.013183592818677425,
                        "pitch": -0.41986536979675293,
                        "yaw": -89.918701171875
                    }
                },
                "velocity": {
                    "x": 0.0204403568059206,
                    "y": -9.528775215148926,
                    "z": -0.06810729205608368
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.443849563598633,
                "transform": {
                    "location": {
                        "x": -2499.051025390625,
                        "y": 5170.50244140625,
                        "z": 378.4687805175781
                    },
                    "rotation": {
                        "roll": 5.8804380387300625e-05,
                        "pitch": -0.28414952754974365,
                        "yaw": -90.03810119628906
                    }
                },
                "velocity": {
                    "x": -0.006290587130934,
                    "y": -9.443720817565918,
                    "z": -0.04905003309249878
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.008176803588867,
                "transform": {
                    "location": {
                        "x": -2502.454833984375,
                        "y": 5166.2275390625,
                        "z": 378.4400634765625
                    },
                    "rotation": {
                        "roll": -0.00036622205516323447,
                        "pitch": -0.3425886034965515,
                        "yaw": -90.02381134033203
                    }
                },
                "velocity": {
                    "x": -0.006332864053547382,
                    "y": -10.008001327514648,
                    "z": -0.058888863772153854
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.313154220581055,
                "transform": {
                    "location": {
                        "x": -2502.411865234375,
                        "y": 5146.22412109375,
                        "z": 378.3143615722656
                    },
                    "rotation": {
                        "roll": 0.002360341139137745,
                        "pitch": -0.3494870960712433,
                        "yaw": -89.54597473144531
                    }
                },
                "velocity": {
                    "x": 0.07542034983634949,
                    "y": -9.312540054321289,
                    "z": -0.07583780586719513
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.37689208984375,
                "transform": {
                    "location": {
                        "x": -2501.45556640625,
                        "y": 5110.2314453125,
                        "z": 377.9320983886719
                    },
                    "rotation": {
                        "roll": -0.009521502070128918,
                        "pitch": -0.6807922124862671,
                        "yaw": -87.47432708740234
                    }
                },
                "velocity": {
                    "x": 0.692557692527771,
                    "y": -15.360068321228027,
                    "z": -0.19357328116893768
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 16.243371963500977,
                "transform": {
                    "location": {
                        "x": -2500.306884765625,
                        "y": 5089.44970703125,
                        "z": 377.6571350097656
                    },
                    "rotation": {
                        "roll": 0.017342329025268555,
                        "pitch": -0.8708149194717407,
                        "yaw": -86.2803955078125
                    }
                },
                "velocity": {
                    "x": 1.0740604400634766,
                    "y": -16.20612907409668,
                    "z": -0.23437625169754028
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.857375144958496,
                "transform": {
                    "location": {
                        "x": -2505.95703125,
                        "y": 5159.74755859375,
                        "z": 378.40576171875
                    },
                    "rotation": {
                        "roll": -0.002929688198491931,
                        "pitch": 0.0419168695807457,
                        "yaw": -90.02156829833984
                    }
                },
                "velocity": {
                    "x": -0.002490974497050047,
                    "y": -12.857101440429688,
                    "z": -0.08384762704372406
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.488702774047852,
                "transform": {
                    "location": {
                        "x": -2505.823486328125,
                        "y": 5138.85400390625,
                        "z": 378.2510986328125
                    },
                    "rotation": {
                        "roll": -0.035217273980379105,
                        "pitch": -0.38326922059059143,
                        "yaw": -89.11405944824219
                    }
                },
                "velocity": {
                    "x": 0.2130894809961319,
                    "y": -13.48652172088623,
                    "z": -0.11594051122665405
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.320406913757324,
                "transform": {
                    "location": {
                        "x": -2505.314697265625,
                        "y": 5119.1357421875,
                        "z": 378.08612060546875
                    },
                    "rotation": {
                        "roll": -0.019012480974197388,
                        "pitch": -0.5870069265365601,
                        "yaw": -87.95403289794922
                    }
                },
                "velocity": {
                    "x": 0.5224369764328003,
                    "y": -14.309920310974121,
                    "z": -0.16522617638111115
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 15.225091934204102,
                "transform": {
                    "location": {
                        "x": -2504.38671875,
                        "y": 5098.595703125,
                        "z": 377.7814025878906
                    },
                    "rotation": {
                        "roll": -0.006744390353560448,
                        "pitch": -0.7930600643157959,
                        "yaw": -86.69097900390625
                    }
                },
                "velocity": {
                    "x": 0.8547034859657288,
                    "y": -15.199552536010742,
                    "z": -0.215681791305542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.32461562752723694,
        "expert_target_speed": 0,
        "target_point": [
            7.239464605333083,
            3.3092988255283715
        ],
        "target_point_next": [
            58.777636330920785,
            2.9397063760874707
        ]
    },
    "295": {
        "acceleration": [
            0.7177841663360596,
            -2.9210281372070312,
            -0.04067361354827881
        ],
        "angular_velocity": [
            -2.114245891571045,
            -0.4745025038719177,
            0.03700041398406029
        ],
        "forward_vector": [
            0.07557163387537003,
            -0.9970160722732544,
            -0.01574653759598732
        ],
        "right_vector": [
            0.9971390962600708,
            0.07553679496049881,
            0.002796502085402608
        ],
        "location": [
            -2502.034423828125,
            5122.783203125,
            378.0887145996094
        ],
        "rotation": [
            -0.16024784743785858,
            -0.902247428894043,
            -85.66539764404297
        ],
        "velocity": [
            0.6716058254241943,
            -8.275895118713379,
            -0.09104286134243011
        ],
        "speed": 8.30310149285721,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.48077392578125,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2501.27392578125,
                5106.3212890625,
                377.8814697265625
            ],
            "velocity": [
                0.7665185928344727,
                -15.960922241210938,
                -0.21338847279548645
            ],
            "speed_kmh": 57.5306722489639,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03662109375,
                        "y": 5193.5,
                        "z": 378.5682678222656
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.22119140625,
                        "y": 4933.7255859375,
                        "z": 375.74859619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.3505859375,
                        "y": 4953.45556640625,
                        "z": 376.0296325683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.8564453125,
                        "y": 4979.23779296875,
                        "z": 376.34478759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.057373046875,
                        "y": 4994.001953125,
                        "z": 376.49169921875
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.24951171875,
                        "y": 5008.71728515625,
                        "z": 376.6314697265625
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.3359375,
                        "y": 5023.5,
                        "z": 376.786865234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.841796875,
                        "y": 5035.3037109375,
                        "z": 376.9263916015625
                    },
                    "rotation": {
                        "roll": -2.6682299036906443e-08,
                        "pitch": -0.6788319945335388,
                        "yaw": -82.86524200439453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618889808654785,
                "transform": {
                    "location": {
                        "x": -2495.1806640625,
                        "y": 5067.2763671875,
                        "z": 377.3429260253906
                    },
                    "rotation": {
                        "roll": 0.003694344311952591,
                        "pitch": -0.7688265442848206,
                        "yaw": -84.99819946289062
                    }
                },
                "velocity": {
                    "x": 0.8399884104728699,
                    "y": -9.581253051757812,
                    "z": -0.1305784434080124
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.25493335723877,
                "transform": {
                    "location": {
                        "x": -2496.478759765625,
                        "y": 5083.43603515625,
                        "z": 377.5525817871094
                    },
                    "rotation": {
                        "roll": -0.002593974582850933,
                        "pitch": -0.8169862031936646,
                        "yaw": -85.8895263671875
                    }
                },
                "velocity": {
                    "x": 0.6676995754241943,
                    "y": -9.229887008666992,
                    "z": -0.130950465798378
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.6988525390625,
                "transform": {
                    "location": {
                        "x": -2498.240966796875,
                        "y": 5114.64404296875,
                        "z": 377.9912414550781
                    },
                    "rotation": {
                        "roll": -0.0030517689883708954,
                        "pitch": -0.6910101771354675,
                        "yaw": -87.68175506591797
                    }
                },
                "velocity": {
                    "x": 0.4011622965335846,
                    "y": -9.689812660217285,
                    "z": -0.11975691467523575
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.559329986572266,
                "transform": {
                    "location": {
                        "x": -2498.79296875,
                        "y": 5132.32763671875,
                        "z": 378.1858825683594
                    },
                    "rotation": {
                        "roll": -0.024993909522891045,
                        "pitch": -0.7456653714179993,
                        "yaw": -88.73102569580078
                    }
                },
                "velocity": {
                    "x": 0.19239409267902374,
                    "y": -8.556779861450195,
                    "z": -0.08139535039663315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.781152725219727,
                "transform": {
                    "location": {
                        "x": -2499.05126953125,
                        "y": 5152.3125,
                        "z": 378.3653869628906
                    },
                    "rotation": {
                        "roll": -0.010986321605741978,
                        "pitch": -0.6133714318275452,
                        "yaw": -89.83655548095703
                    }
                },
                "velocity": {
                    "x": 0.02925793267786503,
                    "y": -8.780845642089844,
                    "z": -0.06736552715301514
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.925858497619629,
                "transform": {
                    "location": {
                        "x": -2499.052978515625,
                        "y": 5168.18603515625,
                        "z": 378.4566955566406
                    },
                    "rotation": {
                        "roll": -0.0003051754320040345,
                        "pitch": -0.3193386495113373,
                        "yaw": -90.03829956054688
                    }
                },
                "velocity": {
                    "x": -0.005972255952656269,
                    "y": -8.925714492797852,
                    "z": -0.05030408874154091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.669082641601562,
                "transform": {
                    "location": {
                        "x": -2502.455810546875,
                        "y": 5163.9228515625,
                        "z": 378.42694091796875
                    },
                    "rotation": {
                        "roll": 5.344223973224871e-05,
                        "pitch": -0.406737744808197,
                        "yaw": -90.04965209960938
                    }
                },
                "velocity": {
                    "x": -0.00511234812438488,
                    "y": -8.668928146362305,
                    "z": -0.05163053795695305
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.286203384399414,
                "transform": {
                    "location": {
                        "x": -2502.38720703125,
                        "y": 5143.931640625,
                        "z": 378.2962951660156
                    },
                    "rotation": {
                        "roll": 0.005164005793631077,
                        "pitch": -0.4457995891571045,
                        "yaw": -89.39362335205078
                    }
                },
                "velocity": {
                    "x": 0.11238161474466324,
                    "y": -9.285208702087402,
                    "z": -0.07651394605636597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.980742454528809,
                "transform": {
                    "location": {
                        "x": -2501.27392578125,
                        "y": 5106.3212890625,
                        "z": 377.8814697265625
                    },
                    "rotation": {
                        "roll": -0.008331258781254292,
                        "pitch": -0.7266228199005127,
                        "yaw": -87.22290802001953
                    }
                },
                "velocity": {
                    "x": 0.7665185928344727,
                    "y": -15.960922241210938,
                    "z": -0.21338847279548645
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.360483169555664,
                "transform": {
                    "location": {
                        "x": -2500.021484375,
                        "y": 5085.23046875,
                        "z": 377.5968017578125
                    },
                    "rotation": {
                        "roll": 0.017870940268039703,
                        "pitch": -0.9113384485244751,
                        "yaw": -85.99797821044922
                    }
                },
                "velocity": {
                    "x": 1.2215508222579956,
                    "y": -17.315706253051758,
                    "z": -0.245981365442276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.280158996582031,
                "transform": {
                    "location": {
                        "x": -2505.957275390625,
                        "y": 5156.47705078125,
                        "z": 378.38427734375
                    },
                    "rotation": {
                        "roll": -0.004608157090842724,
                        "pitch": -0.10232988744974136,
                        "yaw": -89.99845886230469
                    }
                },
                "velocity": {
                    "x": 0.0012561334297060966,
                    "y": -13.279854774475098,
                    "z": -0.08996592462062836
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.086641311645508,
                "transform": {
                    "location": {
                        "x": -2505.763916015625,
                        "y": 5135.40625,
                        "z": 378.220458984375
                    },
                    "rotation": {
                        "roll": -0.03546142578125,
                        "pitch": -0.4104602038860321,
                        "yaw": -88.9283447265625
                    }
                },
                "velocity": {
                    "x": 0.2719293236732483,
                    "y": -14.083444595336914,
                    "z": -0.1268736869096756
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.951205253601074,
                "transform": {
                    "location": {
                        "x": -2505.178466796875,
                        "y": 5115.47607421875,
                        "z": 378.04345703125
                    },
                    "rotation": {
                        "roll": -0.01678466796875,
                        "pitch": -0.6082761287689209,
                        "yaw": -87.77010345458984
                    }
                },
                "velocity": {
                    "x": 0.5967205762863159,
                    "y": -14.93825912475586,
                    "z": -0.17575545608997345
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 15.891788482666016,
                "transform": {
                    "location": {
                        "x": -2504.1630859375,
                        "y": 5094.7099609375,
                        "z": 377.7254943847656
                    },
                    "rotation": {
                        "roll": -0.007873490452766418,
                        "pitch": -0.8119454979896545,
                        "yaw": -86.43753814697266
                    }
                },
                "velocity": {
                    "x": 0.9561275243759155,
                    "y": -15.861330032348633,
                    "z": -0.23018203675746918
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0015488862991333,
        "expert_target_speed": 0,
        "target_point": [
            56.760285452261,
            2.633124208796068
        ],
        "target_point_next": [
            86.7814858949955,
            3.4959885691439556
        ]
    },
    "300": {
        "acceleration": [
            0.21734356880187988,
            -9.317073822021484,
            -0.156419575214386
        ],
        "angular_velocity": [
            -2.785914659500122,
            0.5326675772666931,
            -1.4915074110031128
        ],
        "forward_vector": [
            0.07938022911548615,
            -0.9968087673187256,
            -0.00843026116490364
        ],
        "right_vector": [
            0.9968444108963013,
            0.07937514781951904,
            0.0009363347198814154
        ],
        "location": [
            -2501.8603515625,
            5120.61962890625,
            378.0631103515625
        ],
        "rotation": [
            -0.053649939596652985,
            -0.48302412033081055,
            -85.4468994140625
        ],
        "velocity": [
            0.7149884104728699,
            -9.31119441986084,
            -0.10627012699842453
        ],
        "speed": 9.338605353668083,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.387285232543945,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2501.0673828125,
                5102.2509765625,
                377.8263244628906
            ],
            "velocity": [
                0.8653838634490967,
                -16.383230209350586,
                -0.2295161336660385
            ],
            "speed_kmh": 59.06763000808346,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.038330078125,
                        "y": 5191.0,
                        "z": 378.5591735839844
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.021728515625,
                        "y": 5216.5068359375,
                        "z": 378.66107177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1530713587999344,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3724,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2477.98974609375,
                        "y": 4931.2353515625,
                        "z": 375.7113342285156
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.0595703125,
                        "y": 4950.97216796875,
                        "z": 375.9947509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.489013671875,
                        "y": 4976.76416015625,
                        "z": 376.3180236816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.688720703125,
                        "y": 4991.52783203125,
                        "z": 376.46826171875
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.88232421875,
                        "y": 5006.2431640625,
                        "z": 376.6075744628906
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.003173828125,
                        "y": 5021.0224609375,
                        "z": 376.7591857910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.537109375,
                        "y": 5032.8232421875,
                        "z": 376.8959045410156
                    },
                    "rotation": {
                        "roll": -2.6682299036906443e-08,
                        "pitch": -0.6788319945335388,
                        "yaw": -82.86524200439453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618517875671387,
                "transform": {
                    "location": {
                        "x": -2494.965576171875,
                        "y": 5064.88134765625,
                        "z": 377.31060791015625
                    },
                    "rotation": {
                        "roll": 0.008567474782466888,
                        "pitch": -0.7650699615478516,
                        "yaw": -84.85674285888672
                    }
                },
                "velocity": {
                    "x": 0.8806850910186768,
                    "y": -9.577259063720703,
                    "z": -0.12802264094352722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.295373916625977,
                "transform": {
                    "location": {
                        "x": -2496.310546875,
                        "y": 5081.123046875,
                        "z": 377.51983642578125
                    },
                    "rotation": {
                        "roll": -0.004089344758540392,
                        "pitch": -0.8105726838111877,
                        "yaw": -85.81687927246094
                    }
                },
                "velocity": {
                    "x": 0.698971152305603,
                    "y": -9.268136024475098,
                    "z": -0.1306462436914444
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.673397064208984,
                "transform": {
                    "location": {
                        "x": -2498.1396484375,
                        "y": 5112.22509765625,
                        "z": 377.96142578125
                    },
                    "rotation": {
                        "roll": -0.0004882911453023553,
                        "pitch": -0.7272306680679321,
                        "yaw": -87.55009460449219
                    }
                },
                "velocity": {
                    "x": 0.41501280665397644,
                    "y": -9.663734436035156,
                    "z": -0.120918408036232
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.255223274230957,
                "transform": {
                    "location": {
                        "x": -2498.739990234375,
                        "y": 5130.10595703125,
                        "z": 378.16302490234375
                    },
                    "rotation": {
                        "roll": -0.037048324942588806,
                        "pitch": -0.5033302903175354,
                        "yaw": -88.60039520263672
                    }
                },
                "velocity": {
                    "x": 0.23915250599384308,
                    "y": -9.25167465209961,
                    "z": -0.09206172078847885
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.086206436157227,
                "transform": {
                    "location": {
                        "x": -2499.04248046875,
                        "y": 5150.087890625,
                        "z": 378.3464660644531
                    },
                    "rotation": {
                        "roll": -0.014892594888806343,
                        "pitch": -0.4375828802585602,
                        "yaw": -89.7195816040039
                    }
                },
                "velocity": {
                    "x": 0.05407178774476051,
                    "y": -9.085761070251465,
                    "z": -0.07184360176324844
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.542997360229492,
                "transform": {
                    "location": {
                        "x": -2499.05419921875,
                        "y": 5166.01708984375,
                        "z": 378.4445495605469
                    },
                    "rotation": {
                        "roll": 0.0012639418710023165,
                        "pitch": -0.34905681014060974,
                        "yaw": -90.03841400146484
                    }
                },
                "velocity": {
                    "x": -0.0057163480669260025,
                    "y": -8.542853355407715,
                    "z": -0.04922783747315407
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.809189796447754,
                "transform": {
                    "location": {
                        "x": -2502.457275390625,
                        "y": 5161.77197265625,
                        "z": 378.4134826660156
                    },
                    "rotation": {
                        "roll": -0.0004272423102520406,
                        "pitch": -0.36532631516456604,
                        "yaw": -90.02334594726562
                    }
                },
                "velocity": {
                    "x": -0.0060652135871350765,
                    "y": -8.809005737304688,
                    "z": -0.056607332080602646
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.053760528564453,
                "transform": {
                    "location": {
                        "x": -2502.358154296875,
                        "y": 5141.51611328125,
                        "z": 378.27667236328125
                    },
                    "rotation": {
                        "roll": 0.003585158847272396,
                        "pitch": -0.5467566251754761,
                        "yaw": -89.2884521484375
                    }
                },
                "velocity": {
                    "x": 0.12663772702217102,
                    "y": -10.05260944366455,
                    "z": -0.0843324065208435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.40767478942871,
                "transform": {
                    "location": {
                        "x": -2501.0673828125,
                        "y": 5102.2509765625,
                        "z": 377.8263244628906
                    },
                    "rotation": {
                        "roll": -0.012603740207850933,
                        "pitch": -0.7597014307975769,
                        "yaw": -86.94938659667969
                    }
                },
                "velocity": {
                    "x": 0.8653838634490967,
                    "y": -16.383230209350586,
                    "z": -0.2295161336660385
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.990083694458008,
                "transform": {
                    "location": {
                        "x": -2499.7021484375,
                        "y": 5080.81787109375,
                        "z": 377.5340576171875
                    },
                    "rotation": {
                        "roll": 0.018906516954302788,
                        "pitch": -0.8755140900611877,
                        "yaw": -85.71952819824219
                    }
                },
                "velocity": {
                    "x": 1.3502392768859863,
                    "y": -17.937572479248047,
                    "z": -0.25191694498062134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.817091941833496,
                "transform": {
                    "location": {
                        "x": -2505.952392578125,
                        "y": 5153.09228515625,
                        "z": 378.36053466796875
                    },
                    "rotation": {
                        "roll": -0.0329895094037056,
                        "pitch": -0.1781039983034134,
                        "yaw": -89.85173797607422
                    }
                },
                "velocity": {
                    "x": 0.03842338174581528,
                    "y": -13.816668510437012,
                    "z": -0.10100506246089935
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.688392639160156,
                "transform": {
                    "location": {
                        "x": -2505.68798828125,
                        "y": 5131.806640625,
                        "z": 378.18670654296875
                    },
                    "rotation": {
                        "roll": -0.0343017615377903,
                        "pitch": -0.42078059911727905,
                        "yaw": -88.69249725341797
                    }
                },
                "velocity": {
                    "x": 0.32991689443588257,
                    "y": -14.683992385864258,
                    "z": -0.14289350807666779
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.57711124420166,
                "transform": {
                    "location": {
                        "x": -2505.021484375,
                        "y": 5111.66064453125,
                        "z": 377.9969787597656
                    },
                    "rotation": {
                        "roll": -0.014709428884088993,
                        "pitch": -0.6555478572845459,
                        "yaw": -87.53543090820312
                    }
                },
                "velocity": {
                    "x": 0.66536945104599,
                    "y": -15.56168270111084,
                    "z": -0.19420310854911804
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 16.560012817382812,
                "transform": {
                    "location": {
                        "x": -2503.912841796875,
                        "y": 5090.658203125,
                        "z": 377.66656494140625
                    },
                    "rotation": {
                        "roll": -0.008331305347383022,
                        "pitch": -0.8052109479904175,
                        "yaw": -86.17925262451172
                    }
                },
                "velocity": {
                    "x": 1.0588288307189941,
                    "y": -16.5244083404541,
                    "z": -0.23838786780834198
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0000526905059814,
        "expert_target_speed": 0,
        "target_point": [
            54.59935075276003,
            2.4148443128763226
        ],
        "target_point_next": [
            84.62362385833467,
            3.163199448535602
        ]
    },
    "305": {
        "acceleration": [
            -0.06225466728210449,
            -5.772991180419922,
            -0.0752769410610199
        ],
        "angular_velocity": [
            -0.4430448114871979,
            0.30567118525505066,
            -2.818321943283081
        ],
        "forward_vector": [
            0.06931373476982117,
            -0.9975926280021667,
            -0.0021183472126722336
        ],
        "right_vector": [
            0.9975940585136414,
            0.06931627541780472,
            -0.0011476025683805346
        ],
        "location": [
            -2501.676513671875,
            5118.0576171875,
            378.0322570800781
        ],
        "rotation": [
            0.06575294584035873,
            -0.12137245386838913,
            -86.02542114257812
        ],
        "velocity": [
            0.7300437092781067,
            -10.975151062011719,
            -0.12683774530887604
        ],
        "speed": 10.99940474077727,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.06287956237793,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2500.8349609375,
                5098.01416015625,
                377.7662658691406
            ],
            "velocity": [
                0.9992679357528687,
                -17.350231170654297,
                -0.2492857724428177
            ],
            "speed_kmh": 62.57077569574055,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.039794921875,
                        "y": 5188.5,
                        "z": 378.5498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02294921875,
                        "y": 5214.0068359375,
                        "z": 378.64556884765625
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.769775390625,
                        "y": 4948.4892578125,
                        "z": 375.9598693847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.126220703125,
                        "y": 4974.2900390625,
                        "z": 376.2903747558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.31982421875,
                        "y": 4989.0537109375,
                        "z": 376.4446716308594
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.513671875,
                        "y": 5003.76904296875,
                        "z": 376.5841369628906
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.662109375,
                        "y": 5018.546875,
                        "z": 376.7323303222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2491.226806640625,
                        "y": 5030.34375,
                        "z": 376.8660888671875
                    },
                    "rotation": {
                        "roll": 2.6682148046575094e-08,
                        "pitch": -0.6509989500045776,
                        "yaw": -82.57874298095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618306159973145,
                "transform": {
                    "location": {
                        "x": -2494.74560546875,
                        "y": 5062.4873046875,
                        "z": 377.2786560058594
                    },
                    "rotation": {
                        "roll": 0.0043590799905359745,
                        "pitch": -0.7555828094482422,
                        "yaw": -84.71858978271484
                    }
                },
                "velocity": {
                    "x": 0.888152539730072,
                    "y": -9.57636547088623,
                    "z": -0.1273435801267624
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.253758430480957,
                "transform": {
                    "location": {
                        "x": -2496.135009765625,
                        "y": 5078.8115234375,
                        "z": 377.48724365234375
                    },
                    "rotation": {
                        "roll": -0.003417990170419216,
                        "pitch": -0.8013246059417725,
                        "yaw": -85.61688232421875
                    }
                },
                "velocity": {
                    "x": 0.7134192585945129,
                    "y": -9.225297927856445,
                    "z": -0.13024315237998962
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.699454307556152,
                "transform": {
                    "location": {
                        "x": -2498.03369140625,
                        "y": 5109.80615234375,
                        "z": 377.93072509765625
                    },
                    "rotation": {
                        "roll": -0.0018005399033427238,
                        "pitch": -0.7269301414489746,
                        "yaw": -87.43103790283203
                    }
                },
                "velocity": {
                    "x": 0.44552791118621826,
                    "y": -9.688410758972168,
                    "z": -0.12493076175451279
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.792975425720215,
                "transform": {
                    "location": {
                        "x": -2498.67529296875,
                        "y": 5127.65380859375,
                        "z": 378.13763427734375
                    },
                    "rotation": {
                        "roll": -0.02746581844985485,
                        "pitch": -0.3703260123729706,
                        "yaw": -88.46312713623047
                    }
                },
                "velocity": {
                    "x": 0.2658427655696869,
                    "y": -9.788840293884277,
                    "z": -0.10148287564516068
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.321228981018066,
                "transform": {
                    "location": {
                        "x": -2499.02783203125,
                        "y": 5147.7978515625,
                        "z": 378.32769775390625
                    },
                    "rotation": {
                        "roll": -0.013549783267080784,
                        "pitch": -0.38308480381965637,
                        "yaw": -89.5973892211914
                    }
                },
                "velocity": {
                    "x": 0.07125585526227951,
                    "y": -9.320656776428223,
                    "z": -0.07470550388097763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.716313362121582,
                "transform": {
                    "location": {
                        "x": -2499.0556640625,
                        "y": 5163.86962890625,
                        "z": 378.43182373046875
                    },
                    "rotation": {
                        "roll": -0.0008239722810685635,
                        "pitch": -0.33438554406166077,
                        "yaw": -90.04095458984375
                    }
                },
                "velocity": {
                    "x": -0.0062993234023451805,
                    "y": -8.716167449951172,
                    "z": -0.05009280517697334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.873007774353027,
                "transform": {
                    "location": {
                        "x": -2502.4580078125,
                        "y": 5159.43505859375,
                        "z": 378.39794921875
                    },
                    "rotation": {
                        "roll": -0.0028076020535081625,
                        "pitch": -0.33343616127967834,
                        "yaw": -90.028076171875
                    }
                },
                "velocity": {
                    "x": -0.000632912793662399,
                    "y": -9.872787475585938,
                    "z": -0.06598325818777084
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.94056224822998,
                "transform": {
                    "location": {
                        "x": -2502.3212890625,
                        "y": 5138.9921875,
                        "z": 378.2547302246094
                    },
                    "rotation": {
                        "roll": 0.008392776362597942,
                        "pitch": -0.4964864253997803,
                        "yaw": -89.14086151123047
                    }
                },
                "velocity": {
                    "x": 0.16704922914505005,
                    "y": -9.938775062561035,
                    "z": -0.08727260679006577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 17.380769729614258,
                "transform": {
                    "location": {
                        "x": -2500.8349609375,
                        "y": 5098.01416015625,
                        "z": 377.7662658691406
                    },
                    "rotation": {
                        "roll": -0.014678984880447388,
                        "pitch": -0.7650084495544434,
                        "yaw": -86.69365692138672
                    }
                },
                "velocity": {
                    "x": 0.9992679357528687,
                    "y": -17.350231170654297,
                    "z": -0.2492857724428177
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 18.56297492980957,
                "transform": {
                    "location": {
                        "x": -2499.350830078125,
                        "y": 5076.25927734375,
                        "z": 377.47015380859375
                    },
                    "rotation": {
                        "roll": 0.017025688663125038,
                        "pitch": -0.8547366857528687,
                        "yaw": -85.4549789428711
                    }
                },
                "velocity": {
                    "x": 1.467803716659546,
                    "y": -18.50308609008789,
                    "z": -0.25572669506073
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.413348197937012,
                "transform": {
                    "location": {
                        "x": -2505.938720703125,
                        "y": 5149.55908203125,
                        "z": 378.3336181640625
                    },
                    "rotation": {
                        "roll": -0.0539245679974556,
                        "pitch": -0.19149117171764374,
                        "yaw": -89.69153594970703
                    }
                },
                "velocity": {
                    "x": 0.0861993283033371,
                    "y": -14.412653923034668,
                    "z": -0.11219505220651627
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.264423370361328,
                "transform": {
                    "location": {
                        "x": -2505.595458984375,
                        "y": 5128.06103515625,
                        "z": 378.1496276855469
                    },
                    "rotation": {
                        "roll": -0.04156496748328209,
                        "pitch": -0.4673420190811157,
                        "yaw": -88.4605941772461
                    }
                },
                "velocity": {
                    "x": 0.4052853584289551,
                    "y": -15.258249282836914,
                    "z": -0.15548346936702728
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.045331954956055,
                "transform": {
                    "location": {
                        "x": -2504.84423828125,
                        "y": 5107.6953125,
                        "z": 377.9465026855469
                    },
                    "rotation": {
                        "roll": -0.020996106788516045,
                        "pitch": -0.6899378895759583,
                        "yaw": -87.30318450927734
                    }
                },
                "velocity": {
                    "x": 0.7569483518600464,
                    "y": -16.026098251342773,
                    "z": -0.20958882570266724
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 17.227222442626953,
                "transform": {
                    "location": {
                        "x": -2503.63525390625,
                        "y": 5086.44091796875,
                        "z": 377.6058654785156
                    },
                    "rotation": {
                        "roll": -0.009429878555238247,
                        "pitch": -0.7955598831176758,
                        "yaw": -85.9312744140625
                    }
                },
                "velocity": {
                    "x": 1.1736550331115723,
                    "y": -17.18545913696289,
                    "z": -0.24441412091255188
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9989311695098877,
        "expert_target_speed": 0,
        "target_point": [
            52.00359455524387,
            2.96015998204258
        ],
        "target_point_next": [
            82.01878174130012,
            4.011610938200227
        ]
    },
    "310": {
        "acceleration": [
            -0.25974154472351074,
            -5.480670928955078,
            -0.1014527678489685
        ],
        "angular_velocity": [
            -0.0029216499533504248,
            0.2975602149963379,
            -2.851719379425049
        ],
        "forward_vector": [
            0.05742669850587845,
            -0.9983488917350769,
            -0.001281499513424933
        ],
        "right_vector": [
            0.9983465075492859,
            0.057429730892181396,
            -0.0024695901665836573
        ],
        "location": [
            -2501.4970703125,
            5115.1328125,
            377.99749755859375
        ],
        "rotation": [
            0.14149735867977142,
            -0.07342453300952911,
            -86.70787811279297
        ],
        "velocity": [
            0.6839510798454285,
            -12.359807014465332,
            -0.14840275049209595
        ],
        "speed": 12.37871635164358,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.567302703857422,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2500.571533203125,
                5093.58740234375,
                377.7021484375
            ],
            "velocity": [
                1.1227182149887085,
                -18.0224552154541,
                -0.2634052336215973
            ],
            "speed_kmh": 65.01352525194572,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04150390625,
                        "y": 5186.0,
                        "z": 378.5403747558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02490234375,
                        "y": 5211.5068359375,
                        "z": 378.6279602050781
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.493408203125,
                        "y": 4946.00341796875,
                        "z": 375.9247131347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.767822265625,
                        "y": 4971.8154296875,
                        "z": 376.2621765136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.951171875,
                        "y": 4986.580078125,
                        "z": 376.4206848144531
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.14501953125,
                        "y": 5001.29541015625,
                        "z": 376.5606994628906
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.317138671875,
                        "y": 5016.07080078125,
                        "z": 376.7059631347656
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.90966796875,
                        "y": 5027.865234375,
                        "z": 376.8368225097656
                    },
                    "rotation": {
                        "roll": 2.6682148046575094e-08,
                        "pitch": -0.6509989500045776,
                        "yaw": -82.57874298095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618575096130371,
                "transform": {
                    "location": {
                        "x": -2494.518310546875,
                        "y": 5060.09326171875,
                        "z": 377.2469787597656
                    },
                    "rotation": {
                        "roll": 0.009168772958219051,
                        "pitch": -0.7530556321144104,
                        "yaw": -84.56871032714844
                    }
                },
                "velocity": {
                    "x": 0.9285529851913452,
                    "y": -9.5728120803833,
                    "z": -0.12662506103515625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.295050621032715,
                "transform": {
                    "location": {
                        "x": -2495.955322265625,
                        "y": 5076.5,
                        "z": 377.454833984375
                    },
                    "rotation": {
                        "roll": -0.003265390172600746,
                        "pitch": -0.801754891872406,
                        "yaw": -85.53031921386719
                    }
                },
                "velocity": {
                    "x": 0.7445958256721497,
                    "y": -9.2642822265625,
                    "z": -0.1289050132036209
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.674317359924316,
                "transform": {
                    "location": {
                        "x": -2497.921142578125,
                        "y": 5107.38720703125,
                        "z": 377.8992004394531
                    },
                    "rotation": {
                        "roll": -0.0004883220535703003,
                        "pitch": -0.766019344329834,
                        "yaw": -87.27775573730469
                    }
                },
                "velocity": {
                    "x": 0.46233975887298584,
                    "y": -9.662435531616211,
                    "z": -0.12645559012889862
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.438811302185059,
                "transform": {
                    "location": {
                        "x": -2498.608154296875,
                        "y": 5125.25830078125,
                        "z": 378.1134033203125
                    },
                    "rotation": {
                        "roll": -0.0371398888528347,
                        "pitch": -0.6272913813591003,
                        "yaw": -88.35331726074219
                    }
                },
                "velocity": {
                    "x": 0.2859784960746765,
                    "y": -9.433929443359375,
                    "z": -0.10174738615751266
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.91396427154541,
                "transform": {
                    "location": {
                        "x": -2499.00830078125,
                        "y": 5145.37353515625,
                        "z": 378.3074645996094
                    },
                    "rotation": {
                        "roll": -0.01068115048110485,
                        "pitch": -0.32876431941986084,
                        "yaw": -89.48485565185547
                    }
                },
                "velocity": {
                    "x": 0.09778067469596863,
                    "y": -9.913154602050781,
                    "z": -0.08057032525539398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.306791305541992,
                "transform": {
                    "location": {
                        "x": -2499.057373046875,
                        "y": 5161.62060546875,
                        "z": 378.4181213378906
                    },
                    "rotation": {
                        "roll": 0.0010450113331899047,
                        "pitch": -0.347260445356369,
                        "yaw": -90.03802490234375
                    }
                },
                "velocity": {
                    "x": -0.00612952746450901,
                    "y": -9.306591987609863,
                    "z": -0.060584839433431625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.64243221282959,
                "transform": {
                    "location": {
                        "x": -2502.4580078125,
                        "y": 5156.9697265625,
                        "z": 378.38177490234375
                    },
                    "rotation": {
                        "roll": -0.0020446728449314833,
                        "pitch": -0.3810698986053467,
                        "yaw": -89.97528076171875
                    }
                },
                "velocity": {
                    "x": 0.003061762312427163,
                    "y": -9.642216682434082,
                    "z": -0.06439535319805145
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.28529167175293,
                "transform": {
                    "location": {
                        "x": -2502.27880859375,
                        "y": 5136.484375,
                        "z": 378.2326965332031
                    },
                    "rotation": {
                        "roll": 0.0030440224800258875,
                        "pitch": -0.5350633263587952,
                        "yaw": -89.00900268554688
                    }
                },
                "velocity": {
                    "x": 0.18016240000724792,
                    "y": -10.283278465270996,
                    "z": -0.09461412578821182
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.05931282043457,
                "transform": {
                    "location": {
                        "x": -2500.571533203125,
                        "y": 5093.58740234375,
                        "z": 377.7021484375
                    },
                    "rotation": {
                        "roll": -0.014862060546875,
                        "pitch": -0.7893102765083313,
                        "yaw": -86.41028594970703
                    }
                },
                "velocity": {
                    "x": 1.1227182149887085,
                    "y": -18.0224552154541,
                    "z": -0.2634052336215973
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 19.12204360961914,
                "transform": {
                    "location": {
                        "x": -2498.9677734375,
                        "y": 5071.5615234375,
                        "z": 377.40545654296875
                    },
                    "rotation": {
                        "roll": 0.02013343945145607,
                        "pitch": -0.8377090096473694,
                        "yaw": -85.19158935546875
                    }
                },
                "velocity": {
                    "x": 1.5992951393127441,
                    "y": -19.053264617919922,
                    "z": -0.26067793369293213
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.909775733947754,
                "transform": {
                    "location": {
                        "x": -2505.912841796875,
                        "y": 5145.888671875,
                        "z": 378.30426025390625
                    },
                    "rotation": {
                        "roll": -0.0528259240090847,
                        "pitch": -0.22613389790058136,
                        "yaw": -89.5137939453125
                    }
                },
                "velocity": {
                    "x": 0.12223527580499649,
                    "y": -14.908782958984375,
                    "z": -0.12112634629011154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.618632316589355,
                "transform": {
                    "location": {
                        "x": -2505.486083984375,
                        "y": 5124.1923828125,
                        "z": 378.1092529296875
                    },
                    "rotation": {
                        "roll": -0.0454406701028347,
                        "pitch": -0.5312110781669617,
                        "yaw": -88.2656478881836
                    }
                },
                "velocity": {
                    "x": 0.47414594888687134,
                    "y": -15.610551834106445,
                    "z": -0.16597871482372284
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.85173797607422,
                "transform": {
                    "location": {
                        "x": -2504.64404296875,
                        "y": 5103.59814453125,
                        "z": 377.8919372558594
                    },
                    "rotation": {
                        "roll": -0.02545171231031418,
                        "pitch": -0.6893914341926575,
                        "yaw": -87.03692626953125
                    }
                },
                "velocity": {
                    "x": 0.8747274875640869,
                    "y": -16.827451705932617,
                    "z": -0.22983238101005554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 17.885297775268555,
                "transform": {
                    "location": {
                        "x": -2503.328369140625,
                        "y": 5082.05908203125,
                        "z": 377.543701171875
                    },
                    "rotation": {
                        "roll": -0.010192932561039925,
                        "pitch": -0.7852190136909485,
                        "yaw": -85.6771469116211
                    }
                },
                "velocity": {
                    "x": 1.294049620628357,
                    "y": -17.83664894104004,
                    "z": -0.2515069246292114
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9983991980552673,
        "expert_target_speed": 0,
        "target_point": [
            49.034364108585834,
            3.568181291435628
        ],
        "target_point_next": [
            79.03489817985984,
            4.977069635318087
        ]
    },
    "315": {
        "acceleration": [
            -0.7014977931976318,
            -3.40667724609375,
            -0.10519534349441528
        ],
        "angular_velocity": [
            0.7779785394668579,
            0.39495790004730225,
            -3.970064640045166
        ],
        "forward_vector": [
            0.042109180241823196,
            -0.9991109371185303,
            -0.0020431263837963343
        ],
        "right_vector": [
            0.9991041421890259,
            0.04211734980344772,
            -0.004132707603275776
        ],
        "location": [
            -2501.339111328125,
            5111.865234375,
            377.9574890136719
        ],
        "rotation": [
            0.23678787052631378,
            -0.11706260591745377,
            -87.58660125732422
        ],
        "velocity": [
            0.5508280992507935,
            -13.63286304473877,
            -0.17084357142448425
        ],
        "speed": 13.643986455267692,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.893604278564453,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2500.27734375,
                5088.99853515625,
                377.63531494140625
            ],
            "velocity": [
                1.246207594871521,
                -18.661754608154297,
                -0.2690180242061615
            ],
            "speed_kmh": 67.33891073531659,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04296875,
                        "y": 5183.5,
                        "z": 378.5309143066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.026611328125,
                        "y": 5209.0068359375,
                        "z": 378.62005615234375
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.21875,
                        "y": 4943.517578125,
                        "z": 375.8894958496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.41943359375,
                        "y": 4969.33984375,
                        "z": 376.2330322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.58251953125,
                        "y": 4984.10595703125,
                        "z": 376.3957214355469
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.776123046875,
                        "y": 4998.8212890625,
                        "z": 376.53729248046875
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.962646484375,
                        "y": 5013.5947265625,
                        "z": 376.6802978515625
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.58642578125,
                        "y": 5025.38623046875,
                        "z": 376.80816650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.617498397827148,
                "transform": {
                    "location": {
                        "x": -2494.2861328125,
                        "y": 5057.7001953125,
                        "z": 377.2155456542969
                    },
                    "rotation": {
                        "roll": 0.0028731352649629116,
                        "pitch": -0.7416082620620728,
                        "yaw": -84.43077087402344
                    }
                },
                "velocity": {
                    "x": 0.9361178874969482,
                    "y": -9.570995330810547,
                    "z": -0.12654449045658112
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.254013061523438,
                "transform": {
                    "location": {
                        "x": -2495.768310546875,
                        "y": 5074.189453125,
                        "z": 377.4227600097656
                    },
                    "rotation": {
                        "roll": -0.003875698195770383,
                        "pitch": -0.7880193591117859,
                        "yaw": -85.33583068847656
                    }
                },
                "velocity": {
                    "x": 0.7583032250404358,
                    "y": -9.222038269042969,
                    "z": -0.12548217177391052
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.700684547424316,
                "transform": {
                    "location": {
                        "x": -2497.802978515625,
                        "y": 5104.96875,
                        "z": 377.8668212890625
                    },
                    "rotation": {
                        "roll": -0.0017394812311977148,
                        "pitch": -0.7715381383895874,
                        "yaw": -87.14189910888672
                    }
                },
                "velocity": {
                    "x": 0.4942798614501953,
                    "y": -9.687192916870117,
                    "z": -0.13134287297725677
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.510444641113281,
                "transform": {
                    "location": {
                        "x": -2498.540283203125,
                        "y": 5123.07666015625,
                        "z": 378.0906982421875
                    },
                    "rotation": {
                        "roll": -0.03002927266061306,
                        "pitch": -0.9099723696708679,
                        "yaw": -88.1910629272461
                    }
                },
                "velocity": {
                    "x": 0.27320554852485657,
                    "y": -8.505538940429688,
                    "z": -0.09397797286510468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.051034927368164,
                "transform": {
                    "location": {
                        "x": -2498.98291015625,
                        "y": 5142.99169921875,
                        "z": 378.29010009765625
                    },
                    "rotation": {
                        "roll": -0.017730712890625,
                        "pitch": -0.6117185354232788,
                        "yaw": -89.341796875
                    }
                },
                "velocity": {
                    "x": 0.10966431349515915,
                    "y": -9.05003833770752,
                    "z": -0.07752048224210739
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.523907661437988,
                "transform": {
                    "location": {
                        "x": -2499.058349609375,
                        "y": 5159.2353515625,
                        "z": 378.40289306640625
                    },
                    "rotation": {
                        "roll": -0.0006103548221290112,
                        "pitch": -0.3800043761730194,
                        "yaw": -90.01898193359375
                    }
                },
                "velocity": {
                    "x": -0.0016041984781622887,
                    "y": -9.523693084716797,
                    "z": -0.0639742985367775
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.975423812866211,
                "transform": {
                    "location": {
                        "x": -2502.454833984375,
                        "y": 5154.54736328125,
                        "z": 378.3648376464844
                    },
                    "rotation": {
                        "roll": -0.005035383626818657,
                        "pitch": -0.3965744078159332,
                        "yaw": -89.9090805053711
                    }
                },
                "velocity": {
                    "x": 0.02830624207854271,
                    "y": -9.975115776062012,
                    "z": -0.07302088290452957
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.08884334564209,
                "transform": {
                    "location": {
                        "x": -2502.225830078125,
                        "y": 5133.8115234375,
                        "z": 378.20849609375
                    },
                    "rotation": {
                        "roll": 0.010687435045838356,
                        "pitch": -0.6160557270050049,
                        "yaw": -88.83948516845703
                    }
                },
                "velocity": {
                    "x": 0.2430836260318756,
                    "y": -11.085685729980469,
                    "z": -0.1045871451497078
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.705251693725586,
                "transform": {
                    "location": {
                        "x": -2500.27734375,
                        "y": 5088.99853515625,
                        "z": 377.63531494140625
                    },
                    "rotation": {
                        "roll": -0.017486566677689552,
                        "pitch": -0.7825893759727478,
                        "yaw": -86.15576934814453
                    }
                },
                "velocity": {
                    "x": 1.246207594871521,
                    "y": -18.661754608154297,
                    "z": -0.2690180242061615
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 19.671659469604492,
                "transform": {
                    "location": {
                        "x": -2498.55078125,
                        "y": 5066.7275390625,
                        "z": 377.33990478515625
                    },
                    "rotation": {
                        "roll": 0.020984506234526634,
                        "pitch": -0.8231470584869385,
                        "yaw": -84.91070556640625
                    }
                },
                "velocity": {
                    "x": 1.7389277219772339,
                    "y": -19.592872619628906,
                    "z": -0.2639191448688507
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.195657730102539,
                "transform": {
                    "location": {
                        "x": -2505.8720703125,
                        "y": 5142.12353515625,
                        "z": 378.27337646484375
                    },
                    "rotation": {
                        "roll": -0.0746764987707138,
                        "pitch": -0.3085879385471344,
                        "yaw": -89.26741027832031
                    }
                },
                "velocity": {
                    "x": 0.18992365896701813,
                    "y": -15.19393539428711,
                    "z": -0.12751714885234833
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.280506134033203,
                "transform": {
                    "location": {
                        "x": -2505.3583984375,
                        "y": 5120.2275390625,
                        "z": 378.06573486328125
                    },
                    "rotation": {
                        "roll": -0.04730226844549179,
                        "pitch": -0.5096140503883362,
                        "yaw": -88.02972412109375
                    }
                },
                "velocity": {
                    "x": 0.5596442222595215,
                    "y": -16.269838333129883,
                    "z": -0.18442699313163757
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.6611270904541,
                "transform": {
                    "location": {
                        "x": -2504.4130859375,
                        "y": 5099.2861328125,
                        "z": 377.83197021484375
                    },
                    "rotation": {
                        "roll": -0.02584843523800373,
                        "pitch": -0.729033887386322,
                        "yaw": -86.75638580322266
                    }
                },
                "velocity": {
                    "x": 0.9951126575469971,
                    "y": -17.631290435791016,
                    "z": -0.25062069296836853
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 18.531850814819336,
                "transform": {
                    "location": {
                        "x": -2502.990966796875,
                        "y": 5077.5166015625,
                        "z": 377.4800720214844
                    },
                    "rotation": {
                        "roll": -0.010589592158794403,
                        "pitch": -0.7708141207695007,
                        "yaw": -85.41487884521484
                    }
                },
                "velocity": {
                    "x": 1.4208840131759644,
                    "y": -18.47551918029785,
                    "z": -0.25646209716796875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9989894032478333,
        "expert_target_speed": 0,
        "target_point": [
            45.702543420551955,
            4.299540681675191
        ],
        "target_point_next": [
            75.67794213987482,
            6.168359170672582
        ]
    },
    "320": {
        "acceleration": [
            -0.5754679441452026,
            -5.390987396240234,
            -0.09233295917510986
        ],
        "angular_velocity": [
            -0.24315226078033447,
            -0.006277077365666628,
            -3.42677903175354
        ],
        "forward_vector": [
            0.02482476644217968,
            -0.9996821880340576,
            -0.004378662444651127
        ],
        "right_vector": [
            0.9996771216392517,
            0.02484789863228798,
            -0.005309486296027899
        ],
        "location": [
            -2501.224853515625,
            5108.373046875,
            377.9134826660156
        ],
        "rotation": [
            0.30421552062034607,
            -0.2508796751499176,
            -88.57748413085938
        ],
        "velocity": [
            0.36378687620162964,
            -14.578519821166992,
            -0.1901628077030182
        ],
        "speed": 14.583058014951988,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.15863037109375,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2499.951416015625,
                5084.25048828125,
                377.5671691894531
            ],
            "velocity": [
                1.3771326541900635,
                -19.291276931762695,
                -0.2735441029071808
            ],
            "speed_kmh": 69.63229089656141,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.044677734375,
                        "y": 5181.0,
                        "z": 378.52154541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0283203125,
                        "y": 5206.5068359375,
                        "z": 378.6120910644531
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.957275390625,
                        "y": 4941.0322265625,
                        "z": 375.8541564941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.075439453125,
                        "y": 4966.8642578125,
                        "z": 376.20330810546875
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.213623046875,
                        "y": 4981.6328125,
                        "z": 376.3704528808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.407470703125,
                        "y": 4996.34716796875,
                        "z": 376.51385498046875
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.60498046875,
                        "y": 5011.1201171875,
                        "z": 376.6551513671875
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2490.25732421875,
                        "y": 5022.908203125,
                        "z": 376.7801513671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6231659054756165,
                        "yaw": -82.29228973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618451118469238,
                "transform": {
                    "location": {
                        "x": -2494.04736328125,
                        "y": 5055.30810546875,
                        "z": 377.1842346191406
                    },
                    "rotation": {
                        "roll": 0.007924613542854786,
                        "pitch": -0.7402012348175049,
                        "yaw": -84.28755187988281
                    }
                },
                "velocity": {
                    "x": 0.9754801988601685,
                    "y": -9.568048477172852,
                    "z": -0.12443516403436661
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.295100212097168,
                "transform": {
                    "location": {
                        "x": -2495.578369140625,
                        "y": 5071.87841796875,
                        "z": 377.3909606933594
                    },
                    "rotation": {
                        "roll": -0.0006103722844272852,
                        "pitch": -0.7871997356414795,
                        "yaw": -85.28208923339844
                    }
                },
                "velocity": {
                    "x": 0.7660163640975952,
                    "y": -9.262600898742676,
                    "z": -0.12777405977249146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.675246238708496,
                "transform": {
                    "location": {
                        "x": -2497.678466796875,
                        "y": 5102.55029296875,
                        "z": 377.8336181640625
                    },
                    "rotation": {
                        "roll": -0.0017700436292216182,
                        "pitch": -0.7963590025901794,
                        "yaw": -86.98762512207031
                    }
                },
                "velocity": {
                    "x": 0.5108634233474731,
                    "y": -9.660810470581055,
                    "z": -0.13469111919403076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.029328346252441,
                "transform": {
                    "location": {
                        "x": -2498.468505859375,
                        "y": 5120.87353515625,
                        "z": 378.0650939941406
                    },
                    "rotation": {
                        "roll": -0.02926637791097164,
                        "pitch": -0.6053459644317627,
                        "yaw": -88.11534118652344
                    }
                },
                "velocity": {
                    "x": 0.31326693296432495,
                    "y": -9.023319244384766,
                    "z": -0.10174520313739777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.275760650634766,
                "transform": {
                    "location": {
                        "x": -2498.956298828125,
                        "y": 5140.8544921875,
                        "z": 378.2727966308594
                    },
                    "rotation": {
                        "roll": -0.012420636601746082,
                        "pitch": -0.7385824918746948,
                        "yaw": -89.19839477539062
                    }
                },
                "velocity": {
                    "x": 0.12311700731515884,
                    "y": -8.2745361328125,
                    "z": -0.07146193087100983
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.463043212890625,
                "transform": {
                    "location": {
                        "x": -2499.05859375,
                        "y": 5156.9912109375,
                        "z": 378.38787841796875
                    },
                    "rotation": {
                        "roll": -0.0008850383455865085,
                        "pitch": -0.40325435996055603,
                        "yaw": -89.9922103881836
                    }
                },
                "velocity": {
                    "x": 0.002401316072791815,
                    "y": -8.462849617004395,
                    "z": -0.05717281252145767
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.07275104522705,
                "transform": {
                    "location": {
                        "x": -2502.447021484375,
                        "y": 5151.9150390625,
                        "z": 378.34521484375
                    },
                    "rotation": {
                        "roll": -0.00341796618886292,
                        "pitch": -0.3674983084201813,
                        "yaw": -89.79869842529297
                    }
                },
                "velocity": {
                    "x": 0.040674615651369095,
                    "y": -11.072357177734375,
                    "z": -0.08408420532941818
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.924505233764648,
                "transform": {
                    "location": {
                        "x": -2502.162353515625,
                        "y": 5130.931640625,
                        "z": 378.18096923828125
                    },
                    "rotation": {
                        "roll": 0.004555430728942156,
                        "pitch": -0.6372634172439575,
                        "yaw": -88.7138671875
                    }
                },
                "velocity": {
                    "x": 0.2705838084220886,
                    "y": -11.920843124389648,
                    "z": -0.11883021146059036
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 19.342302322387695,
                "transform": {
                    "location": {
                        "x": -2499.951416015625,
                        "y": 5084.25048828125,
                        "z": 377.5671691894531
                    },
                    "rotation": {
                        "roll": -0.016448944807052612,
                        "pitch": -0.767296552658081,
                        "yaw": -85.88668823242188
                    }
                },
                "velocity": {
                    "x": 1.3771326541900635,
                    "y": -19.291276931762695,
                    "z": -0.2735441029071808
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 20.212440490722656,
                "transform": {
                    "location": {
                        "x": -2498.09814453125,
                        "y": 5061.7607421875,
                        "z": 377.2735595703125
                    },
                    "rotation": {
                        "roll": 0.021746313199400902,
                        "pitch": -0.8087421655654907,
                        "yaw": -84.61981201171875
                    }
                },
                "velocity": {
                    "x": 1.8864147663116455,
                    "y": -20.122468948364258,
                    "z": -0.2653452157974243
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.54343318939209,
                "transform": {
                    "location": {
                        "x": -2505.8173828125,
                        "y": 5138.2646484375,
                        "z": 378.2406311035156
                    },
                    "rotation": {
                        "roll": -0.0869750902056694,
                        "pitch": -0.3300142288208008,
                        "yaw": -89.0572738647461
                    }
                },
                "velocity": {
                    "x": 0.2568967342376709,
                    "y": -15.540725708007812,
                    "z": -0.134749174118042
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 17.150548934936523,
                "transform": {
                    "location": {
                        "x": -2505.205078125,
                        "y": 5116.04638671875,
                        "z": 378.0174255371094
                    },
                    "rotation": {
                        "roll": -0.050445519387722015,
                        "pitch": -0.5076606273651123,
                        "yaw": -87.75272369384766
                    }
                },
                "velocity": {
                    "x": 0.6601600646972656,
                    "y": -17.13665199279785,
                    "z": -0.20155349373817444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 18.448015213012695,
                "transform": {
                    "location": {
                        "x": -2504.151123046875,
                        "y": 5094.77587890625,
                        "z": 377.7672119140625
                    },
                    "rotation": {
                        "roll": -0.026428230106830597,
                        "pitch": -0.7483223080635071,
                        "yaw": -86.50900268554688
                    }
                },
                "velocity": {
                    "x": 1.1182349920272827,
                    "y": -18.412137985229492,
                    "z": -0.26830869913101196
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 19.16678237915039,
                "transform": {
                    "location": {
                        "x": -2502.62109375,
                        "y": 5072.81591796875,
                        "z": 377.4151611328125
                    },
                    "rotation": {
                        "roll": -0.008880635723471642,
                        "pitch": -0.7575703859329224,
                        "yaw": -85.13842010498047
                    }
                },
                "velocity": {
                    "x": 1.5554828643798828,
                    "y": -19.101789474487305,
                    "z": -0.26014095544815063
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9971486330032349,
        "expert_target_speed": 0,
        "target_point": [
            42.12740300401106,
            5.061758010172039
        ],
        "target_point_next": [
            72.06599874739553,
            7.4487007915141055
        ]
    },
    "325": {
        "acceleration": [
            -0.38928210735321045,
            -4.493999481201172,
            -0.08533626794815063
        ],
        "angular_velocity": [
            0.048394061625003815,
            -0.2362731397151947,
            -1.8643075227737427
        ],
        "forward_vector": [
            0.013209267519414425,
            -0.9999032616615295,
            -0.004358992446213961
        ],
        "right_vector": [
            0.9998994469642639,
            0.01323145255446434,
            -0.005100537091493607
        ],
        "location": [
            -2501.150390625,
            5104.57177734375,
            377.8631591796875
        ],
        "rotation": [
            0.29224327206611633,
            -0.2497526854276657,
            -89.24313354492188
        ],
        "velocity": [
            0.2252989411354065,
            -15.756805419921875,
            -0.2124321311712265
        ],
        "speed": 15.758416057908743,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.274364471435547,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2499.592041015625,
                5079.34814453125,
                377.4979553222656
            ],
            "velocity": [
                1.5158727169036865,
                -19.887065887451172,
                -0.27879080176353455
            ],
            "speed_kmh": 71.8081329158338,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.046142578125,
                        "y": 5178.5,
                        "z": 378.51123046875
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02978515625,
                        "y": 5204.0068359375,
                        "z": 378.6040954589844
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.69775390625,
                        "y": 4938.5458984375,
                        "z": 375.8186950683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.74169921875,
                        "y": 4964.38623046875,
                        "z": 376.1726379394531
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.8447265625,
                        "y": 4979.15966796875,
                        "z": 376.3439636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.03857421875,
                        "y": 4993.8740234375,
                        "z": 376.4905090332031
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.2392578125,
                        "y": 5008.6474609375,
                        "z": 376.63079833984375
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.92236328125,
                        "y": 5020.43212890625,
                        "z": 376.7527770996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618284225463867,
                "transform": {
                    "location": {
                        "x": -2493.803466796875,
                        "y": 5052.916015625,
                        "z": 377.15338134765625
                    },
                    "rotation": {
                        "roll": 0.003827056847512722,
                        "pitch": -0.729395866394043,
                        "yaw": -84.14840698242188
                    }
                },
                "velocity": {
                    "x": 0.9833413362503052,
                    "y": -9.567100524902344,
                    "z": -0.12253770232200623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.25263786315918,
                "transform": {
                    "location": {
                        "x": -2495.381103515625,
                        "y": 5069.56884765625,
                        "z": 377.3594970703125
                    },
                    "rotation": {
                        "roll": -0.005767825059592724,
                        "pitch": -0.7774599194526672,
                        "yaw": -85.07823944091797
                    }
                },
                "velocity": {
                    "x": 0.8034958243370056,
                    "y": -9.216815948486328,
                    "z": -0.12651261687278748
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.702089309692383,
                "transform": {
                    "location": {
                        "x": -2497.548095703125,
                        "y": 5100.1318359375,
                        "z": 377.7997131347656
                    },
                    "rotation": {
                        "roll": -0.001770053175278008,
                        "pitch": -0.8180858492851257,
                        "yaw": -86.85253143310547
                    }
                },
                "velocity": {
                    "x": 0.543137788772583,
                    "y": -9.685879707336426,
                    "z": -0.13881038129329681
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.038288116455078,
                "transform": {
                    "location": {
                        "x": -2498.38232421875,
                        "y": 5118.46435546875,
                        "z": 378.03643798828125
                    },
                    "rotation": {
                        "roll": -0.03485105186700821,
                        "pitch": -0.360627144575119,
                        "yaw": -87.9200668334961
                    }
                },
                "velocity": {
                    "x": 0.37075498700141907,
                    "y": -10.03077220916748,
                    "z": -0.11568745225667953
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.647411346435547,
                "transform": {
                    "location": {
                        "x": -2498.92333984375,
                        "y": 5138.75830078125,
                        "z": 378.2523498535156
                    },
                    "rotation": {
                        "roll": -0.01644897647202015,
                        "pitch": -0.4678337872028351,
                        "yaw": -89.0640640258789
                    }
                },
                "velocity": {
                    "x": 0.14912840723991394,
                    "y": -8.645811080932617,
                    "z": -0.07375973463058472
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.984696865081787,
                "transform": {
                    "location": {
                        "x": -2499.056884765625,
                        "y": 5154.953125,
                        "z": 378.3736572265625
                    },
                    "rotation": {
                        "roll": -0.0016784574836492538,
                        "pitch": -0.42111527919769287,
                        "yaw": -89.9362564086914
                    }
                },
                "velocity": {
                    "x": 0.016905052587389946,
                    "y": -7.98447847366333,
                    "z": -0.05661699175834656
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.035675048828125,
                "transform": {
                    "location": {
                        "x": -2502.433349609375,
                        "y": 5149.009765625,
                        "z": 378.32275390625
                    },
                    "rotation": {
                        "roll": -0.005889895372092724,
                        "pitch": -0.3924558162689209,
                        "yaw": -89.6724853515625
                    }
                },
                "velocity": {
                    "x": 0.08539257198572159,
                    "y": -12.03499698638916,
                    "z": -0.09506066143512726
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.737107276916504,
                "transform": {
                    "location": {
                        "x": -2502.08349609375,
                        "y": 5127.845703125,
                        "z": 378.1500244140625
                    },
                    "rotation": {
                        "roll": 0.009807916358113289,
                        "pitch": -0.6709294319152832,
                        "yaw": -88.48870086669922
                    }
                },
                "velocity": {
                    "x": 0.34733760356903076,
                    "y": -12.731704711914062,
                    "z": -0.13023938238620758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 19.946704864501953,
                "transform": {
                    "location": {
                        "x": -2499.592041015625,
                        "y": 5079.34814453125,
                        "z": 377.4979553222656
                    },
                    "rotation": {
                        "roll": -0.017974834889173508,
                        "pitch": -0.7563751339912415,
                        "yaw": -85.599853515625
                    }
                },
                "velocity": {
                    "x": 1.5158727169036865,
                    "y": -19.887065887451172,
                    "z": -0.27879080176353455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 20.744495391845703,
                "transform": {
                    "location": {
                        "x": -2497.607666015625,
                        "y": 5056.66162109375,
                        "z": 377.2065124511719
                    },
                    "rotation": {
                        "roll": 0.021410299465060234,
                        "pitch": -0.7947402596473694,
                        "yaw": -84.32257080078125
                    }
                },
                "velocity": {
                    "x": 2.040576934814453,
                    "y": -20.642152786254883,
                    "z": -0.2677236795425415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.549570083618164,
                "transform": {
                    "location": {
                        "x": -2505.743896484375,
                        "y": 5134.2421875,
                        "z": 378.2039489746094
                    },
                    "rotation": {
                        "roll": -0.09701535850763321,
                        "pitch": -0.2250683754682541,
                        "yaw": -88.8154067993164
                    }
                },
                "velocity": {
                    "x": 0.34262382984161377,
                    "y": -16.545307159423828,
                    "z": -0.15384963154792786
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 17.659870147705078,
                "transform": {
                    "location": {
                        "x": -2505.0263671875,
                        "y": 5111.6875,
                        "z": 377.964599609375
                    },
                    "rotation": {
                        "roll": -0.0541992112994194,
                        "pitch": -0.6125518083572388,
                        "yaw": -87.48876953125
                    }
                },
                "velocity": {
                    "x": 0.7589778900146484,
                    "y": -17.642181396484375,
                    "z": -0.22005920112133026
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 19.068811416625977,
                "transform": {
                    "location": {
                        "x": -2503.858154296875,
                        "y": 5090.0888671875,
                        "z": 377.69921875
                    },
                    "rotation": {
                        "roll": -0.027923621237277985,
                        "pitch": -0.7545446157455444,
                        "yaw": -86.24960327148438
                    }
                },
                "velocity": {
                    "x": 1.2408229112625122,
                    "y": -19.026409149169922,
                    "z": -0.2751066982746124
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 19.790231704711914,
                "transform": {
                    "location": {
                        "x": -2502.216552734375,
                        "y": 5067.9599609375,
                        "z": 377.34918212890625
                    },
                    "rotation": {
                        "roll": -0.013397220522165298,
                        "pitch": -0.7468538284301758,
                        "yaw": -84.83792114257812
                    }
                },
                "velocity": {
                    "x": 1.7002406120300293,
                    "y": -19.715288162231445,
                    "z": -0.26435163617134094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0005170106887817,
        "expert_target_speed": 0,
        "target_point": [
            38.263846188042706,
            5.526495518518371
        ],
        "target_point_next": [
            68.17269743976394,
            8.261020656383067
        ]
    },
    "330": {
        "acceleration": [
            0.16400963068008423,
            -4.407463073730469,
            -0.13147592544555664
        ],
        "angular_velocity": [
            0.14868175983428955,
            -0.6242237091064453,
            0.8246756792068481
        ],
        "forward_vector": [
            0.011727568693459034,
            -0.9999170303344727,
            -0.005323622841387987
        ],
        "right_vector": [
            0.9999268054962158,
            0.011743207462131977,
            -0.002915706718340516
        ],
        "location": [
            -2501.0966796875,
            5100.48876953125,
            377.8070373535156
        ],
        "rotation": [
            0.16706030070781708,
            -0.30502256751060486,
            -89.32803344726562
        ],
        "velocity": [
            0.21536146104335785,
            -16.864009857177734,
            -0.23760800063610077
        ],
        "speed": 16.865384935479252,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.250247955322266,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2499.197509765625,
                5074.31005859375,
                377.4278564453125
            ],
            "velocity": [
                1.6566225290298462,
                -20.38534164428711,
                -0.28022536635398865
            ],
            "speed_kmh": 73.63606871801828,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0478515625,
                        "y": 5176.0,
                        "z": 378.5008850097656
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.031494140625,
                        "y": 5201.5068359375,
                        "z": 378.5960998535156
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.45166015625,
                        "y": 4936.0576171875,
                        "z": 375.78240966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.40966796875,
                        "y": 4961.908203125,
                        "z": 376.14190673828125
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.477294921875,
                        "y": 4976.68603515625,
                        "z": 376.3171691894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.669921875,
                        "y": 4991.400390625,
                        "z": 376.4670715332031
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.872314453125,
                        "y": 5006.173828125,
                        "z": 376.60687255859375
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.580810546875,
                        "y": 5017.95556640625,
                        "z": 376.7259826660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5953397750854492,
                        "yaw": -82.00581359863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.61769962310791,
                "transform": {
                    "location": {
                        "x": -2493.55419921875,
                        "y": 5050.5244140625,
                        "z": 377.1227111816406
                    },
                    "rotation": {
                        "roll": 0.010102985426783562,
                        "pitch": -0.7281732559204102,
                        "yaw": -84.0335922241211
                    }
                },
                "velocity": {
                    "x": 1.0221139192581177,
                    "y": -9.56243896484375,
                    "z": -0.12321624159812927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.29477310180664,
                "transform": {
                    "location": {
                        "x": -2495.18017578125,
                        "y": 5067.2587890625,
                        "z": 377.3281555175781
                    },
                    "rotation": {
                        "roll": 0.00017474601918365806,
                        "pitch": -0.7731841802597046,
                        "yaw": -84.9998779296875
                    }
                },
                "velocity": {
                    "x": 0.8091598153114319,
                    "y": -9.258634567260742,
                    "z": -0.12553316354751587
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.675865173339844,
                "transform": {
                    "location": {
                        "x": -2497.4111328125,
                        "y": 5097.7138671875,
                        "z": 377.7649230957031
                    },
                    "rotation": {
                        "roll": -0.0012817528331652284,
                        "pitch": -0.8221088647842407,
                        "yaw": -86.70076751708984
                    }
                },
                "velocity": {
                    "x": 0.5592724680900574,
                    "y": -9.658690452575684,
                    "z": -0.13888216018676758
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.584334373474121,
                "transform": {
                    "location": {
                        "x": -2498.291015625,
                        "y": 5116.02783203125,
                        "z": 378.00897216796875
                    },
                    "rotation": {
                        "roll": -0.03396598994731903,
                        "pitch": -0.6874107122421265,
                        "yaw": -87.8258285522461
                    }
                },
                "velocity": {
                    "x": 0.3797343671321869,
                    "y": -9.576114654541016,
                    "z": -0.11535920202732086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.754201889038086,
                "transform": {
                    "location": {
                        "x": -2498.883056640625,
                        "y": 5136.45654296875,
                        "z": 378.2300720214844
                    },
                    "rotation": {
                        "roll": -0.007690437603741884,
                        "pitch": -0.24789486825466156,
                        "yaw": -88.95276641845703
                    }
                },
                "velocity": {
                    "x": 0.17863261699676514,
                    "y": -9.752157211303711,
                    "z": -0.08938802778720856
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.286246299743652,
                "transform": {
                    "location": {
                        "x": -2499.0517578125,
                        "y": 5152.931640625,
                        "z": 378.3590087890625
                    },
                    "rotation": {
                        "roll": -0.0009765839204192162,
                        "pitch": -0.426053524017334,
                        "yaw": -89.83824157714844
                    }
                },
                "velocity": {
                    "x": 0.027508368715643883,
                    "y": -8.285974502563477,
                    "z": -0.06129506975412369
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.493758201599121,
                "transform": {
                    "location": {
                        "x": -2502.41064453125,
                        "y": 5145.92724609375,
                        "z": 378.2980651855469
                    },
                    "rotation": {
                        "roll": -0.0028076323214918375,
                        "pitch": -0.42687997221946716,
                        "yaw": -89.52484130859375
                    }
                },
                "velocity": {
                    "x": 0.10229060053825378,
                    "y": -12.492919921875,
                    "z": -0.1024087518453598
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.520584106445312,
                "transform": {
                    "location": {
                        "x": -2501.990478515625,
                        "y": 5124.560546875,
                        "z": 378.1156311035156
                    },
                    "rotation": {
                        "roll": 0.01426017563790083,
                        "pitch": -0.6903066635131836,
                        "yaw": -88.31155395507812
                    }
                },
                "velocity": {
                    "x": 0.42441526055336,
                    "y": -13.513129234313965,
                    "z": -0.14625224471092224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 20.454463958740234,
                "transform": {
                    "location": {
                        "x": -2499.197509765625,
                        "y": 5074.31005859375,
                        "z": 377.4278564453125
                    },
                    "rotation": {
                        "roll": -0.018737826496362686,
                        "pitch": -0.7500640153884888,
                        "yaw": -85.30419921875
                    }
                },
                "velocity": {
                    "x": 1.6566225290298462,
                    "y": -20.38534164428711,
                    "z": -0.28022536635398865
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 21.267854690551758,
                "transform": {
                    "location": {
                        "x": -2497.078125,
                        "y": 5051.4345703125,
                        "z": 377.13916015625
                    },
                    "rotation": {
                        "roll": 0.02450871840119362,
                        "pitch": -0.779174268245697,
                        "yaw": -84.01891326904297
                    }
                },
                "velocity": {
                    "x": 2.201998233795166,
                    "y": -21.1518497467041,
                    "z": -0.26853981614112854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 17.305912017822266,
                "transform": {
                    "location": {
                        "x": -2505.64794921875,
                        "y": 5130.0078125,
                        "z": 378.1632385253906
                    },
                    "rotation": {
                        "roll": -0.10809326171875,
                        "pitch": -0.22672128677368164,
                        "yaw": -88.53719329833984
                    }
                },
                "velocity": {
                    "x": 0.4353177845478058,
                    "y": -17.299592971801758,
                    "z": -0.17080478370189667
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 18.514142990112305,
                "transform": {
                    "location": {
                        "x": -2504.821044921875,
                        "y": 5107.15966796875,
                        "z": 377.9067077636719
                    },
                    "rotation": {
                        "roll": -0.0567016527056694,
                        "pitch": -0.5988436341285706,
                        "yaw": -87.23471069335938
                    }
                },
                "velocity": {
                    "x": 0.8764458298683167,
                    "y": -18.491817474365234,
                    "z": -0.24080149829387665
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 19.622156143188477,
                "transform": {
                    "location": {
                        "x": -2503.534423828125,
                        "y": 5085.26171875,
                        "z": 377.62994384765625
                    },
                    "rotation": {
                        "roll": -0.02981571853160858,
                        "pitch": -0.7504875063896179,
                        "yaw": -85.96788787841797
                    }
                },
                "velocity": {
                    "x": 1.3696435689926147,
                    "y": -19.572328567504883,
                    "z": -0.2775196135044098
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 20.402280807495117,
                "transform": {
                    "location": {
                        "x": -2501.7744140625,
                        "y": 5062.9521484375,
                        "z": 377.2822570800781
                    },
                    "rotation": {
                        "roll": -0.013732822611927986,
                        "pitch": -0.734279453754425,
                        "yaw": -84.51508331298828
                    }
                },
                "velocity": {
                    "x": 1.8557571172714233,
                    "y": -20.315937042236328,
                    "z": -0.26815223693847656
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0005754232406616,
        "expert_target_speed": 0.0,
        "target_point": [
            34.17222972460573,
            5.57754381780949
        ],
        "target_point_next": [
            64.07698198818123,
            8.356536977458616
        ]
    },
    "335": {
        "acceleration": [
            1.0482949018478394,
            -1.69097900390625,
            -0.04571497440338135
        ],
        "angular_velocity": [
            0.9309267997741699,
            -1.0475502014160156,
            4.218023777008057
        ],
        "forward_vector": [
            0.02344929613173008,
            -0.9997014403343201,
            -0.006873553153127432
        ],
        "right_vector": [
            0.9997244477272034,
            0.023440832272171974,
            0.001309179118834436
        ],
        "location": [
            -2501.022216796875,
            5096.15087890625,
            377.7453308105469
        ],
        "rotation": [
            -0.07501222938299179,
            -0.39382869005203247,
            -88.65630340576172
        ],
        "velocity": [
            0.4100966155529022,
            -17.673145294189453,
            -0.2557339668273926
        ],
        "speed": 17.677902698669286,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.09579849243164,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2498.767333984375,
                5069.15185546875,
                377.3573303222656
            ],
            "velocity": [
                1.802168846130371,
                -20.85723304748535,
                -0.28238096833229065
            ],
            "speed_kmh": 75.37266292615826,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.049560546875,
                        "y": 5173.5,
                        "z": 378.4890441894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28875988721847534,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.032958984375,
                        "y": 5199.0068359375,
                        "z": 378.5875549316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.207275390625,
                        "y": 4933.5693359375,
                        "z": 375.7461242675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.092529296875,
                        "y": 4959.42822265625,
                        "z": 376.1095886230469
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.114501953125,
                        "y": 4974.212890625,
                        "z": 376.2895202636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.30126953125,
                        "y": 4988.92724609375,
                        "z": 376.4434814453125
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.50341796875,
                        "y": 5003.70068359375,
                        "z": 376.58349609375
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2489.23291015625,
                        "y": 5015.47998046875,
                        "z": 376.6998291015625
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618306159973145,
                "transform": {
                    "location": {
                        "x": -2493.298583984375,
                        "y": 5048.1337890625,
                        "z": 377.09222412109375
                    },
                    "rotation": {
                        "roll": 0.0037600260693579912,
                        "pitch": -0.7243620157241821,
                        "yaw": -83.86674499511719
                    }
                },
                "velocity": {
                    "x": 1.0316153764724731,
                    "y": -9.562030792236328,
                    "z": -0.12305837124586105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.25288200378418,
                "transform": {
                    "location": {
                        "x": -2494.972900390625,
                        "y": 5064.9501953125,
                        "z": 377.2970275878906
                    },
                    "rotation": {
                        "roll": -0.005584744270890951,
                        "pitch": -0.7698647379875183,
                        "yaw": -84.82396697998047
                    }
                },
                "velocity": {
                    "x": 0.8480945229530334,
                    "y": -9.213114738464355,
                    "z": -0.1228136420249939
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.702288627624512,
                "transform": {
                    "location": {
                        "x": -2497.26904296875,
                        "y": 5095.2958984375,
                        "z": 377.7299499511719
                    },
                    "rotation": {
                        "roll": -0.0006714049377478659,
                        "pitch": -0.8395394682884216,
                        "yaw": -86.57150268554688
                    }
                },
                "velocity": {
                    "x": 0.5906172394752502,
                    "y": -9.68327522277832,
                    "z": -0.14058364927768707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.555841445922852,
                "transform": {
                    "location": {
                        "x": -2498.19873046875,
                        "y": 5113.76025390625,
                        "z": 377.98248291015625
                    },
                    "rotation": {
                        "roll": -0.034149184823036194,
                        "pitch": -1.0025010108947754,
                        "yaw": -87.638427734375
                    }
                },
                "velocity": {
                    "x": 0.35772794485092163,
                    "y": -8.547699928283691,
                    "z": -0.10622484982013702
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.644071578979492,
                "transform": {
                    "location": {
                        "x": -2498.834716796875,
                        "y": 5133.98779296875,
                        "z": 378.2090148925781
                    },
                    "rotation": {
                        "roll": -0.018249500542879105,
                        "pitch": -0.47391265630722046,
                        "yaw": -88.8399429321289
                    }
                },
                "velocity": {
                    "x": 0.20548370480537415,
                    "y": -9.641450881958008,
                    "z": -0.09129449725151062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.91971206665039,
                "transform": {
                    "location": {
                        "x": -2499.04443359375,
                        "y": 5150.7822265625,
                        "z": 378.3424072265625
                    },
                    "rotation": {
                        "roll": -0.0007324384641833603,
                        "pitch": -0.43142205476760864,
                        "yaw": -89.77655029296875
                    }
                },
                "velocity": {
                    "x": 0.0443926565349102,
                    "y": -8.919328689575195,
                    "z": -0.06983274966478348
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.604588508605957,
                "transform": {
                    "location": {
                        "x": -2502.37548828125,
                        "y": 5142.6748046875,
                        "z": 378.2710876464844
                    },
                    "rotation": {
                        "roll": -0.007354727014899254,
                        "pitch": -0.40847259759902954,
                        "yaw": -89.29586791992188
                    }
                },
                "velocity": {
                    "x": 0.1700741946697235,
                    "y": -13.60304069519043,
                    "z": -0.11479515582323074
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.27975845336914,
                "transform": {
                    "location": {
                        "x": -2501.879638671875,
                        "y": 5121.0830078125,
                        "z": 378.0775451660156
                    },
                    "rotation": {
                        "roll": 0.006854861509054899,
                        "pitch": -0.7104489207267761,
                        "yaw": -88.12454223632812
                    }
                },
                "velocity": {
                    "x": 0.46885547041893005,
                    "y": -14.271180152893066,
                    "z": -0.15841051936149597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 20.936851501464844,
                "transform": {
                    "location": {
                        "x": -2498.767333984375,
                        "y": 5069.15185546875,
                        "z": 377.3573303222656
                    },
                    "rotation": {
                        "roll": -0.02175900712609291,
                        "pitch": -0.7398391962051392,
                        "yaw": -85.00366973876953
                    }
                },
                "velocity": {
                    "x": 1.802168846130371,
                    "y": -20.85723304748535,
                    "z": -0.28238096833229065
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 21.782833099365234,
                "transform": {
                    "location": {
                        "x": -2496.507080078125,
                        "y": 5046.08154296875,
                        "z": 377.0711669921875
                    },
                    "rotation": {
                        "roll": 0.025229761376976967,
                        "pitch": -0.7732798457145691,
                        "yaw": -83.70964813232422
                    }
                },
                "velocity": {
                    "x": 2.369685411453247,
                    "y": -21.651830673217773,
                    "z": -0.2732173800468445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 18.085813522338867,
                "transform": {
                    "location": {
                        "x": -2505.52783203125,
                        "y": 5125.58251953125,
                        "z": 378.1181945800781
                    },
                    "rotation": {
                        "roll": -0.1083068922162056,
                        "pitch": -0.24777193367481232,
                        "yaw": -88.28287506103516
                    }
                },
                "velocity": {
                    "x": 0.5285386443138123,
                    "y": -18.077085494995117,
                    "z": -0.1905762106180191
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 19.220409393310547,
                "transform": {
                    "location": {
                        "x": -2504.5859375,
                        "y": 5102.4453125,
                        "z": 377.8434753417969
                    },
                    "rotation": {
                        "roll": -0.06127927824854851,
                        "pitch": -0.6337937116622925,
                        "yaw": -86.95592498779297
                    }
                },
                "velocity": {
                    "x": 0.9990232586860657,
                    "y": -19.19260597229004,
                    "z": -0.2645762264728546
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 20.176151275634766,
                "transform": {
                    "location": {
                        "x": -2503.17724609375,
                        "y": 5080.29443359375,
                        "z": 377.5597229003906
                    },
                    "rotation": {
                        "roll": -0.033264175057411194,
                        "pitch": -0.7411506175994873,
                        "yaw": -85.67290496826172
                    }
                },
                "velocity": {
                    "x": 1.507976770401001,
                    "y": -20.117761611938477,
                    "z": -0.28060460090637207
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 20.821813583374023,
                "transform": {
                    "location": {
                        "x": -2501.294677734375,
                        "y": 5057.822265625,
                        "z": 377.2149658203125
                    },
                    "rotation": {
                        "roll": -0.014068608172237873,
                        "pitch": -0.7293412089347839,
                        "yaw": -84.18004608154297
                    }
                },
                "velocity": {
                    "x": 2.0043091773986816,
                    "y": -20.723373413085938,
                    "z": -0.26928818225860596
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0013017654418945,
        "expert_target_speed": 0.0,
        "target_point": [
            29.896841645045413,
            5.203712035045856
        ],
        "target_point_next": [
            59.83212577773479,
            7.6318337005223285
        ]
    },
    "340": {
        "acceleration": [
            1.4872050285339355,
            0.6824493408203125,
            0.019524097442626953
        ],
        "angular_velocity": [
            0.9995642900466919,
            -0.8588791489601135,
            5.347275733947754
        ],
        "forward_vector": [
            0.04462052881717682,
            -0.9989367127418518,
            -0.01159677654504776
        ],
        "right_vector": [
            0.9989907741546631,
            0.04455715790390968,
            0.005666795652359724
        ],
        "location": [
            -2500.880615234375,
            5091.7275390625,
            377.68194580078125
        ],
        "rotation": [
            -0.32470703125,
            -0.6644612550735474,
            -87.44241333007812
        ],
        "velocity": [
            0.7448025941848755,
            -17.654727935791016,
            -0.2584238648414612
        ],
        "speed": 17.67043149985603,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.974163055419922,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2498.2998046875,
                5063.87548828125,
                377.2863464355469
            ],
            "velocity": [
                1.9547616243362427,
                -21.33316421508789,
                -0.2839739918708801
            ],
            "speed_kmh": 77.12790001319046,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.835205078125,
                        "y": 4918.4423828125,
                        "z": 376.1853942871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.06033788621425629,
                        "yaw": -49.939029693603516
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05126953125,
                        "y": 5171.0,
                        "z": 378.4771423339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28875988721847534,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03466796875,
                        "y": 5196.5068359375,
                        "z": 378.5791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02099609375,
                        "y": 5217.50341796875,
                        "z": 378.7462463378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1530713587999344,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2477.9765625,
                        "y": 4931.07958984375,
                        "z": 375.70892333984375
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.77685546875,
                        "y": 4956.94775390625,
                        "z": 376.0770568847656
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.75634765625,
                        "y": 4971.73779296875,
                        "z": 376.2613220214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.932373046875,
                        "y": 4986.4541015625,
                        "z": 376.41949462890625
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.135009765625,
                        "y": 5001.2275390625,
                        "z": 376.56005859375
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.87841796875,
                        "y": 5013.00341796875,
                        "z": 376.6742248535156
                    },
                    "rotation": {
                        "roll": -2.6681735931788353e-08,
                        "pitch": -0.5674998760223389,
                        "yaw": -81.71934509277344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.617745399475098,
                "transform": {
                    "location": {
                        "x": -2493.037353515625,
                        "y": 5045.744140625,
                        "z": 377.06182861328125
                    },
                    "rotation": {
                        "roll": 0.009999413043260574,
                        "pitch": -0.7204210162162781,
                        "yaw": -83.74839782714844
                    }
                },
                "velocity": {
                    "x": 1.0697022676467896,
                    "y": -9.557287216186523,
                    "z": -0.12258584797382355
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.2942533493042,
                "transform": {
                    "location": {
                        "x": -2494.760498046875,
                        "y": 5062.6416015625,
                        "z": 377.26617431640625
                    },
                    "rotation": {
                        "roll": -0.0016784261679276824,
                        "pitch": -0.7593667507171631,
                        "yaw": -84.70967864990234
                    }
                },
                "velocity": {
                    "x": 0.859319269657135,
                    "y": -9.253629684448242,
                    "z": -0.1227322667837143
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.67611312866211,
                "transform": {
                    "location": {
                        "x": -2497.120361328125,
                        "y": 5092.87841796875,
                        "z": 377.6946105957031
                    },
                    "rotation": {
                        "roll": -0.0012512048706412315,
                        "pitch": -0.8355370163917542,
                        "yaw": -86.41909790039062
                    }
                },
                "velocity": {
                    "x": 0.6070204377174377,
                    "y": -9.656005859375,
                    "z": -0.14226087927818298
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.989845275878906,
                "transform": {
                    "location": {
                        "x": -2498.107421875,
                        "y": 5111.59326171875,
                        "z": 377.95452880859375
                    },
                    "rotation": {
                        "roll": -0.018646229058504105,
                        "pitch": -0.7816741466522217,
                        "yaw": -87.57421875
                    }
                },
                "velocity": {
                    "x": 0.38258811831474304,
                    "y": -8.980982780456543,
                    "z": -0.1135687306523323
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.603572845458984,
                "transform": {
                    "location": {
                        "x": -2498.785400390625,
                        "y": 5131.72021484375,
                        "z": 378.19000244140625
                    },
                    "rotation": {
                        "roll": -0.012268050573766232,
                        "pitch": -0.8247931003570557,
                        "yaw": -88.67549896240234
                    }
                },
                "velocity": {
                    "x": 0.19864077866077423,
                    "y": -8.600852012634277,
                    "z": -0.0857502743601799
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.207136154174805,
                "transform": {
                    "location": {
                        "x": -2499.031005859375,
                        "y": 5148.47900390625,
                        "z": 378.3243713378906
                    },
                    "rotation": {
                        "roll": -0.0012512172106653452,
                        "pitch": -0.4506490230560303,
                        "yaw": -89.62457275390625
                    }
                },
                "velocity": {
                    "x": 0.0663234293460846,
                    "y": -9.206610679626465,
                    "z": -0.07259031385183334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2454.54345703125,
                        "y": 4930.34716796875,
                        "z": 376.24566650390625
                    },
                    "rotation": {
                        "roll": 1.3340389237725958e-08,
                        "pitch": -0.2937595844268799,
                        "yaw": -57.90495300292969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -2505.934326171875,
                        "y": 5138.75146484375,
                        "z": 378.59619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.49612441658973694,
                        "yaw": -89.08391571044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -2502.56103515625,
                        "y": 5156.29736328125,
                        "z": 378.73492431640625
                    },
                    "rotation": {
                        "roll": 1.3340534898986789e-08,
                        "pitch": -0.39837759733200073,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.120072364807129,
                "transform": {
                    "location": {
                        "x": -2502.3271484375,
                        "y": 5139.19970703125,
                        "z": 378.2416076660156
                    },
                    "rotation": {
                        "roll": -0.010620140470564365,
                        "pitch": -0.45232924818992615,
                        "yaw": -89.0936279296875
                    }
                },
                "velocity": {
                    "x": 0.23352286219596863,
                    "y": -14.1176118850708,
                    "z": -0.12221378087997437
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.016631126403809,
                "transform": {
                    "location": {
                        "x": -2501.748779296875,
                        "y": 5117.419921875,
                        "z": 378.03558349609375
                    },
                    "rotation": {
                        "roll": 0.01137498114258051,
                        "pitch": -0.7530556321144104,
                        "yaw": -87.87071990966797
                    }
                },
                "velocity": {
                    "x": 0.5632300972938538,
                    "y": -15.005022048950195,
                    "z": -0.17689065635204315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 21.424415588378906,
                "transform": {
                    "location": {
                        "x": -2498.2998046875,
                        "y": 5063.87548828125,
                        "z": 377.2863464355469
                    },
                    "rotation": {
                        "roll": -0.02099611982703209,
                        "pitch": -0.7277839183807373,
                        "yaw": -84.69976043701172
                    }
                },
                "velocity": {
                    "x": 1.9547616243362427,
                    "y": -21.33316421508789,
                    "z": -0.2839739918708801
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 22.28955078125,
                "transform": {
                    "location": {
                        "x": -2495.892333984375,
                        "y": 5040.6044921875,
                        "z": 377.00189208984375
                    },
                    "rotation": {
                        "roll": 0.030370958149433136,
                        "pitch": -0.7733139991760254,
                        "yaw": -83.3639144897461
                    }
                },
                "velocity": {
                    "x": 2.562345027923584,
                    "y": -22.140016555786133,
                    "z": -0.2794625163078308
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 18.875659942626953,
                "transform": {
                    "location": {
                        "x": -2505.38232421875,
                        "y": 5120.96142578125,
                        "z": 378.0681457519531
                    },
                    "rotation": {
                        "roll": -0.1141967698931694,
                        "pitch": -0.2810349464416504,
                        "yaw": -88.02531433105469
                    }
                },
                "velocity": {
                    "x": 0.634703516960144,
                    "y": -18.863826751708984,
                    "z": -0.20911818742752075
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 19.877119064331055,
                "transform": {
                    "location": {
                        "x": -2504.31982421875,
                        "y": 5097.56005859375,
                        "z": 377.7747497558594
                    },
                    "rotation": {
                        "roll": -0.0667724683880806,
                        "pitch": -0.6774591207504272,
                        "yaw": -86.6837158203125
                    }
                },
                "velocity": {
                    "x": 1.125817060470581,
                    "y": -19.84317398071289,
                    "z": -0.28436461091041565
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 20.63038444519043,
                "transform": {
                    "location": {
                        "x": -2502.78564453125,
                        "y": 5075.212890625,
                        "z": 377.4891662597656
                    },
                    "rotation": {
                        "roll": -0.034149132668972015,
                        "pitch": -0.7372369170188904,
                        "yaw": -85.3734130859375
                    }
                },
                "velocity": {
                    "x": 1.6467368602752686,
                    "y": -20.562612533569336,
                    "z": -0.28280311822891235
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 21.499040603637695,
                "transform": {
                    "location": {
                        "x": -2500.7724609375,
                        "y": 5052.5439453125,
                        "z": 377.1466369628906
                    },
                    "rotation": {
                        "roll": -0.017547588795423508,
                        "pitch": -0.7083452343940735,
                        "yaw": -83.83635711669922
                    }
                },
                "velocity": {
                    "x": 2.1875693798065186,
                    "y": -21.385726928710938,
                    "z": -0.27206116914749146
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9998008012771606,
        "expert_target_speed": 0.0,
        "target_point": [
            25.575123516143663,
            4.625081040712302
        ],
        "target_point_next": [
            55.55513041355014,
            6.418457007614075
        ]
    },
    "345": {
        "acceleration": [
            2.3827290534973145,
            1.138153076171875,
            0.03452897071838379
        ],
        "angular_velocity": [
            0.5086199045181274,
            -1.2925078868865967,
            8.247719764709473
        ],
        "forward_vector": [
            0.07204252481460571,
            -0.9972971081733704,
            -0.014433239586651325
        ],
        "right_vector": [
            0.9973612427711487,
            0.07190202176570892,
            0.010029315948486328
        ],
        "location": [
            -2500.6416015625,
            5087.34228515625,
            377.6188049316406
        ],
        "rotation": [
            -0.57470703125,
            -0.8269924521446228,
            -85.86825561523438
        ],
        "velocity": [
            1.2228307723999023,
            -17.425765991210938,
            -0.2515554130077362
        ],
        "speed": 17.468618591015485,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.004913330078125,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2497.79248046875,
                5058.48046875,
                377.2150573730469
            ],
            "velocity": [
                2.1191585063934326,
                -21.802104949951172,
                -0.2845550775527954
            ],
            "speed_kmh": 78.86412655082295,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.052734375,
                        "y": 5168.5,
                        "z": 378.4637145996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3253765404224396,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.036376953125,
                        "y": 5194.0068359375,
                        "z": 378.5700988769531
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0224609375,
                        "y": 5215.0068359375,
                        "z": 378.6526184082031
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.473388671875,
                        "y": 4954.46728515625,
                        "z": 376.04345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.408447265625,
                        "y": 4969.26318359375,
                        "z": 376.2320861816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.5634765625,
                        "y": 4983.98095703125,
                        "z": 376.3945617675781
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.76611328125,
                        "y": 4998.75439453125,
                        "z": 376.53668212890625
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.518310546875,
                        "y": 5010.529296875,
                        "z": 376.6493225097656
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.6178617477417,
                "transform": {
                    "location": {
                        "x": -2492.77001953125,
                        "y": 5043.3544921875,
                        "z": 377.0315246582031
                    },
                    "rotation": {
                        "roll": 0.004053024109452963,
                        "pitch": -0.7210083603858948,
                        "yaw": -83.58201599121094
                    }
                },
                "velocity": {
                    "x": 1.0788010358810425,
                    "y": -9.556381225585938,
                    "z": -0.12263350188732147
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.253275871276855,
                "transform": {
                    "location": {
                        "x": -2494.54150390625,
                        "y": 5060.33349609375,
                        "z": 377.2355651855469
                    },
                    "rotation": {
                        "roll": -0.006378193385899067,
                        "pitch": -0.7577206492424011,
                        "yaw": -84.53555297851562
                    }
                },
                "velocity": {
                    "x": 0.8931708335876465,
                    "y": -9.209259033203125,
                    "z": -0.12211195379495621
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.702043533325195,
                "transform": {
                    "location": {
                        "x": -2496.966796875,
                        "y": 5090.4609375,
                        "z": 377.65936279296875
                    },
                    "rotation": {
                        "roll": -0.001342753297649324,
                        "pitch": -0.8300182223320007,
                        "yaw": -86.31621551513672
                    }
                },
                "velocity": {
                    "x": 0.6340723633766174,
                    "y": -9.680257797241211,
                    "z": -0.1421557515859604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.936949729919434,
                "transform": {
                    "location": {
                        "x": -2498.002197265625,
                        "y": 5109.26416015625,
                        "z": 377.9236755371094
                    },
                    "rotation": {
                        "roll": -0.03585812821984291,
                        "pitch": -0.470244824886322,
                        "yaw": -87.38452911376953
                    }
                },
                "velocity": {
                    "x": 0.46209055185317993,
                    "y": -9.925355911254883,
                    "z": -0.12947843968868256
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.52061653137207,
                "transform": {
                    "location": {
                        "x": -2498.733642578125,
                        "y": 5129.6044921875,
                        "z": 378.1674499511719
                    },
                    "rotation": {
                        "roll": -0.01849367842078209,
                        "pitch": -0.6905457377433777,
                        "yaw": -88.5543441772461
                    }
                },
                "velocity": {
                    "x": 0.2255546897649765,
                    "y": -8.517215728759766,
                    "z": -0.08415769040584564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.296923637390137,
                "transform": {
                    "location": {
                        "x": -2499.01513671875,
                        "y": 5146.3115234375,
                        "z": 378.30706787109375
                    },
                    "rotation": {
                        "roll": 0.0003771412302739918,
                        "pitch": -0.4833041727542877,
                        "yaw": -89.53984832763672
                    }
                },
                "velocity": {
                    "x": 0.06765841692686081,
                    "y": -8.296371459960938,
                    "z": -0.06768742203712463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2453.86181640625,
                        "y": 4929.30859375,
                        "z": 376.1872863769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -55.46445846557617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2697160243988037,
                "transform": {
                    "location": {
                        "x": -2505.934326171875,
                        "y": 5138.75244140625,
                        "z": 378.2471008300781
                    },
                    "rotation": {
                        "roll": 0.001275798655115068,
                        "pitch": -0.4941983222961426,
                        "yaw": -89.08390045166016
                    }
                },
                "velocity": {
                    "x": 2.0916933863190934e-05,
                    "y": 0.002309249946847558,
                    "z": -0.269706130027771
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9842883348464966,
                "transform": {
                    "location": {
                        "x": -2502.56103515625,
                        "y": 5156.298828125,
                        "z": 378.33819580078125
                    },
                    "rotation": {
                        "roll": -0.0008239780436269939,
                        "pitch": -0.3973667323589325,
                        "yaw": -90.03734588623047
                    }
                },
                "velocity": {
                    "x": -0.00035173757351003587,
                    "y": 0.006795714143663645,
                    "z": -0.9842647910118103
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.691168785095215,
                "transform": {
                    "location": {
                        "x": -2502.264892578125,
                        "y": 5135.6015625,
                        "z": 378.2098083496094
                    },
                    "rotation": {
                        "roll": -0.008331291377544403,
                        "pitch": -0.4876413345336914,
                        "yaw": -88.924560546875
                    }
                },
                "velocity": {
                    "x": 0.2926029860973358,
                    "y": -14.687626838684082,
                    "z": -0.13583950698375702
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.734628677368164,
                "transform": {
                    "location": {
                        "x": -2501.598388671875,
                        "y": 5113.5751953125,
                        "z": 377.98944091796875
                    },
                    "rotation": {
                        "roll": 0.01640799082815647,
                        "pitch": -0.7688606977462769,
                        "yaw": -87.6529769897461
                    }
                },
                "velocity": {
                    "x": 0.659003496170044,
                    "y": -15.71961498260498,
                    "z": -0.1948782503604889
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 21.906702041625977,
                "transform": {
                    "location": {
                        "x": -2497.79248046875,
                        "y": 5058.48046875,
                        "z": 377.2150573730469
                    },
                    "rotation": {
                        "roll": -0.0219421423971653,
                        "pitch": -0.7152369022369385,
                        "yaw": -84.36656951904297
                    }
                },
                "velocity": {
                    "x": 2.1191585063934326,
                    "y": -21.802104949951172,
                    "z": -0.2845550775527954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 22.788190841674805,
                "transform": {
                    "location": {
                        "x": -2495.23095703125,
                        "y": 5035.00634765625,
                        "z": 376.9314270019531
                    },
                    "rotation": {
                        "roll": 0.02745620533823967,
                        "pitch": -0.7608898878097534,
                        "yaw": -83.0289535522461
                    }
                },
                "velocity": {
                    "x": 2.739706039428711,
                    "y": -22.621139526367188,
                    "z": -0.28230956196784973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 19.653427124023438,
                "transform": {
                    "location": {
                        "x": -2505.208740234375,
                        "y": 5116.1435546875,
                        "z": 378.0128479003906
                    },
                    "rotation": {
                        "roll": -0.1233825832605362,
                        "pitch": -0.3242154121398926,
                        "yaw": -87.74383544921875
                    }
                },
                "velocity": {
                    "x": 0.7528212070465088,
                    "y": -19.637630462646484,
                    "z": -0.23211970925331116
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 20.29938507080078,
                "transform": {
                    "location": {
                        "x": -2504.022216796875,
                        "y": 5092.53955078125,
                        "z": 377.7020263671875
                    },
                    "rotation": {
                        "roll": -0.07290642708539963,
                        "pitch": -0.7328792810440063,
                        "yaw": -86.3907241821289
                    }
                },
                "velocity": {
                    "x": 1.2498302459716797,
                    "y": -20.25872230529785,
                    "z": -0.29514268040657043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 21.141658782958984,
                "transform": {
                    "location": {
                        "x": -2502.35986328125,
                        "y": 5070.03369140625,
                        "z": 377.41815185546875
                    },
                    "rotation": {
                        "roll": -0.034759532660245895,
                        "pitch": -0.7173132300376892,
                        "yaw": -85.07090759277344
                    }
                },
                "velocity": {
                    "x": 1.7957043647766113,
                    "y": -21.06332778930664,
                    "z": -0.2852265238761902
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 21.946409225463867,
                "transform": {
                    "location": {
                        "x": -2500.20654296875,
                        "y": 5047.1396484375,
                        "z": 377.0781555175781
                    },
                    "rotation": {
                        "roll": -0.017425546422600746,
                        "pitch": -0.7019316554069519,
                        "yaw": -83.4891357421875
                    }
                },
                "velocity": {
                    "x": 2.3567309379577637,
                    "y": -21.817758560180664,
                    "z": -0.2759070098400116
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9993464946746826,
        "expert_target_speed": 0.0,
        "target_point": [
            21.301447222392408,
            3.99833828988862
        ],
        "target_point_next": [
            51.319404987172874,
            4.967473243884472
        ]
    },
    "350": {
        "acceleration": [
            3.066253662109375,
            -0.43590545654296875,
            0.006350874900817871
        ],
        "angular_velocity": [
            -0.21094679832458496,
            -1.1436779499053955,
            10.546942710876465
        ],
        "forward_vector": [
            0.11493734270334244,
            -0.9932640790939331,
            -0.014692133292555809
        ],
        "right_vector": [
            0.9932783842086792,
            0.11471002548933029,
            0.015479729510843754
        ],
        "location": [
            -2500.255859375,
            5083.01220703125,
            377.5570373535156
        ],
        "rotation": [
            -0.8870543241500854,
            -0.8418275713920593,
            -83.39927673339844
        ],
        "velocity": [
            1.917224645614624,
            -17.305219650268555,
            -0.24692542850971222
        ],
        "speed": 17.411099261269893,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.195966720581055,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2497.243408203125,
                5052.9697265625,
                377.14361572265625
            ],
            "velocity": [
                2.288830518722534,
                -22.260263442993164,
                -0.28577056527137756
            ],
            "speed_kmh": 80.56601647779829,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05419921875,
                        "y": 5166.1162109375,
                        "z": 378.4507751464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3253765404224396,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0380859375,
                        "y": 5191.5068359375,
                        "z": 378.56103515625
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.024169921875,
                        "y": 5212.5068359375,
                        "z": 378.6349792480469
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.17822265625,
                        "y": 4951.98486328125,
                        "z": 376.00897216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.064697265625,
                        "y": 4966.78759765625,
                        "z": 376.2024841308594
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.19482421875,
                        "y": 4981.50927734375,
                        "z": 376.36920166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.397705078125,
                        "y": 4996.2822265625,
                        "z": 376.5133056640625
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2488.15185546875,
                        "y": 5008.05712890625,
                        "z": 376.6250305175781
                    },
                    "rotation": {
                        "roll": 2.6681608034095916e-08,
                        "pitch": -0.5396668910980225,
                        "yaw": -81.52037811279297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.617968559265137,
                "transform": {
                    "location": {
                        "x": -2492.49658203125,
                        "y": 5040.9658203125,
                        "z": 377.0011291503906
                    },
                    "rotation": {
                        "roll": 0.012104802764952183,
                        "pitch": -0.721800684928894,
                        "yaw": -83.44773864746094
                    }
                },
                "velocity": {
                    "x": 1.1231293678283691,
                    "y": -9.551379203796387,
                    "z": -0.12272243201732635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.294113159179688,
                "transform": {
                    "location": {
                        "x": -2494.317626953125,
                        "y": 5058.0263671875,
                        "z": 377.2052001953125
                    },
                    "rotation": {
                        "roll": -0.0023802826181054115,
                        "pitch": -0.7464918494224548,
                        "yaw": -84.432373046875
                    }
                },
                "velocity": {
                    "x": 0.9006985425949097,
                    "y": -9.249564170837402,
                    "z": -0.12186098843812943
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.67596435546875,
                "transform": {
                    "location": {
                        "x": -2496.806884765625,
                        "y": 5088.04443359375,
                        "z": 377.6242980957031
                    },
                    "rotation": {
                        "roll": -0.0022583070676773787,
                        "pitch": -0.8281809091567993,
                        "yaw": -86.15264892578125
                    }
                },
                "velocity": {
                    "x": 0.6534585356712341,
                    "y": -9.652881622314453,
                    "z": -0.13840866088867188
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.604211807250977,
                "transform": {
                    "location": {
                        "x": -2497.887451171875,
                        "y": 5106.8115234375,
                        "z": 377.892333984375
                    },
                    "rotation": {
                        "roll": -0.021606413647532463,
                        "pitch": -0.7128941416740417,
                        "yaw": -87.29708099365234
                    }
                },
                "velocity": {
                    "x": 0.45381873846054077,
                    "y": -9.59263801574707,
                    "z": -0.12740597128868103
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.445154190063477,
                "transform": {
                    "location": {
                        "x": -2498.67333984375,
                        "y": 5127.36572265625,
                        "z": 378.1423645019531
                    },
                    "rotation": {
                        "roll": -0.01058958936482668,
                        "pitch": -0.3920869827270508,
                        "yaw": -88.40530395507812
                    }
                },
                "velocity": {
                    "x": 0.2649567425251007,
                    "y": -9.440937995910645,
                    "z": -0.09709389507770538
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.262483596801758,
                "transform": {
                    "location": {
                        "x": -2498.994873046875,
                        "y": 5144.2578125,
                        "z": 378.29010009765625
                    },
                    "rotation": {
                        "roll": -0.0003967250231653452,
                        "pitch": -0.477751225233078,
                        "yaw": -89.3932113647461
                    }
                },
                "velocity": {
                    "x": 0.09692614525556564,
                    "y": -8.261632919311523,
                    "z": -0.06831318885087967
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2453.17626953125,
                        "y": 4928.2646484375,
                        "z": 376.1286315917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -55.46445846557617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1095193475484848,
                "transform": {
                    "location": {
                        "x": -2505.934326171875,
                        "y": 5138.751953125,
                        "z": 378.2659606933594
                    },
                    "rotation": {
                        "roll": 0.001032250584103167,
                        "pitch": -0.4941983222961426,
                        "yaw": -89.08390045166016
                    }
                },
                "velocity": {
                    "x": 2.0310160834924318e-05,
                    "y": -0.0009515930432826281,
                    "z": 0.10951520502567291
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.560302734375,
                        "y": 5155.0498046875,
                        "z": 378.2958068847656
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.35722541809082,
                "transform": {
                    "location": {
                        "x": -2502.185302734375,
                        "y": 5131.84033203125,
                        "z": 378.1744079589844
                    },
                    "rotation": {
                        "roll": -0.0076904455199837685,
                        "pitch": -0.5002430081367493,
                        "yaw": -88.68533325195312
                    }
                },
                "velocity": {
                    "x": 0.3470587432384491,
                    "y": -15.352587699890137,
                    "z": -0.14823535084724426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 16.2343807220459,
                "transform": {
                    "location": {
                        "x": -2501.426025390625,
                        "y": 5109.5791015625,
                        "z": 377.939208984375
                    },
                    "rotation": {
                        "roll": 0.01780868135392666,
                        "pitch": -0.7698647379875183,
                        "yaw": -87.4163818359375
                    }
                },
                "velocity": {
                    "x": 0.7498801946640015,
                    "y": -16.215749740600586,
                    "z": -0.205649271607399
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 22.37944793701172,
                "transform": {
                    "location": {
                        "x": -2497.243408203125,
                        "y": 5052.9697265625,
                        "z": 377.14361572265625
                    },
                    "rotation": {
                        "roll": -0.024383479729294777,
                        "pitch": -0.6986122131347656,
                        "yaw": -84.03841400146484
                    }
                },
                "velocity": {
                    "x": 2.288830518722534,
                    "y": -22.260263442993164,
                    "z": -0.28577056527137756
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 23.27779769897461,
                "transform": {
                    "location": {
                        "x": -2494.523193359375,
                        "y": 5029.2890625,
                        "z": 376.8619079589844
                    },
                    "rotation": {
                        "roll": 0.030796026811003685,
                        "pitch": -0.7251338362693787,
                        "yaw": -82.71324157714844
                    }
                },
                "velocity": {
                    "x": 2.9341845512390137,
                    "y": -23.090505599975586,
                    "z": -0.27374276518821716
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 20.097253799438477,
                "transform": {
                    "location": {
                        "x": -2505.005615234375,
                        "y": 5111.1708984375,
                        "z": 377.95269775390625
                    },
                    "rotation": {
                        "roll": -0.1358947604894638,
                        "pitch": -0.4553550183773041,
                        "yaw": -87.44955444335938
                    }
                },
                "velocity": {
                    "x": 0.8694372177124023,
                    "y": -20.076854705810547,
                    "z": -0.25219157338142395
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 20.815156936645508,
                "transform": {
                    "location": {
                        "x": -2503.692138671875,
                        "y": 5087.4140625,
                        "z": 377.6278381347656
                    },
                    "rotation": {
                        "roll": -0.0776672437787056,
                        "pitch": -0.7182285189628601,
                        "yaw": -86.08455657958984
                    }
                },
                "velocity": {
                    "x": 1.3890289068222046,
                    "y": -20.76662826538086,
                    "z": -0.29755347967147827
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 21.624902725219727,
                "transform": {
                    "location": {
                        "x": -2501.8935546875,
                        "y": 5064.6982421875,
                        "z": 377.3464050292969
                    },
                    "rotation": {
                        "roll": -0.03643803298473358,
                        "pitch": -0.7054970264434814,
                        "yaw": -84.76366424560547
                    }
                },
                "velocity": {
                    "x": 1.9495710134506226,
                    "y": -21.53493309020996,
                    "z": -0.2867048978805542
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 22.365739822387695,
                "transform": {
                    "location": {
                        "x": -2499.59814453125,
                        "y": 5041.63232421875,
                        "z": 377.0086975097656
                    },
                    "rotation": {
                        "roll": -0.01837160252034664,
                        "pitch": -0.7030859589576721,
                        "yaw": -83.14335632324219
                    }
                },
                "velocity": {
                    "x": 2.5297465324401855,
                    "y": -22.22045135498047,
                    "z": -0.27974066138267517
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.43500083684921265,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.001841425895691,
        "expert_target_speed": 17.27989572730432,
        "target_point": [
            17.108199200062355,
            3.191544071932565
        ],
        "target_point_next": [
            47.140039859777865,
            2.8666479090461294
        ]
    },
    "355": {
        "acceleration": [
            3.52902889251709,
            -1.4407730102539062,
            0.014452040195465088
        ],
        "angular_velocity": [
            -0.4214564263820648,
            -0.8261138796806335,
            10.810182571411133
        ],
        "forward_vector": [
            0.16128449141979218,
            -0.9868319630622864,
            -0.012243798933923244
        ],
        "right_vector": [
            0.9867560267448425,
            0.16102956235408783,
            0.01954702101647854
        ],
        "location": [
            -2499.67724609375,
            5078.650390625,
            377.4947509765625
        ],
        "rotation": [
            -1.1201171875,
            -0.7015355229377747,
            -80.71783447265625
        ],
        "velocity": [
            2.759476900100708,
            -17.599302291870117,
            -0.24758343398571014
        ],
        "speed": 17.814324402648957,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.45303726196289,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2496.650390625,
                5047.34619140625,
                377.0719299316406
            ],
            "velocity": [
                2.4657890796661377,
                -22.70814323425293,
                -0.28798046708106995
            ],
            "speed_kmh": 82.23638925172298,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.055419921875,
                        "y": 5163.8388671875,
                        "z": 378.4371337890625
                    },
                    "rotation": {
                        "roll": 1.3340479831924767e-08,
                        "pitch": -0.3619931638240814,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03955078125,
                        "y": 5189.0068359375,
                        "z": 378.5516662597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.025634765625,
                        "y": 5210.0068359375,
                        "z": 378.6232604980469
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.886962890625,
                        "y": 4949.50146484375,
                        "z": 375.97418212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.7314453125,
                        "y": 4964.30908203125,
                        "z": 376.1717834472656
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.826171875,
                        "y": 4979.03564453125,
                        "z": 376.3426818847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.02880859375,
                        "y": 4993.80908203125,
                        "z": 376.4898681640625
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.78466796875,
                        "y": 5005.58447265625,
                        "z": 376.6012878417969
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.617599487304688,
                "transform": {
                    "location": {
                        "x": -2492.2158203125,
                        "y": 5038.578125,
                        "z": 376.97076416015625
                    },
                    "rotation": {
                        "roll": 0.0038421237841248512,
                        "pitch": -0.7193896174430847,
                        "yaw": -83.2629623413086
                    }
                },
                "velocity": {
                    "x": 1.1330788135528564,
                    "y": -9.54985237121582,
                    "z": -0.1211162656545639
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.253252029418945,
                "transform": {
                    "location": {
                        "x": -2494.08935546875,
                        "y": 5055.71923828125,
                        "z": 377.1750183105469
                    },
                    "rotation": {
                        "roll": -0.005706811789423227,
                        "pitch": -0.745084822177887,
                        "yaw": -84.30010223388672
                    }
                },
                "velocity": {
                    "x": 0.9355813264846802,
                    "y": -9.20505428314209,
                    "z": -0.11972977966070175
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.701807022094727,
                "transform": {
                    "location": {
                        "x": -2496.641845703125,
                        "y": 5085.6279296875,
                        "z": 377.589599609375
                    },
                    "rotation": {
                        "roll": -0.0015868991613388062,
                        "pitch": -0.8158250451087952,
                        "yaw": -86.03380584716797
                    }
                },
                "velocity": {
                    "x": 0.6821202635765076,
                    "y": -9.676798820495605,
                    "z": -0.1390630602836609
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.749157905578613,
                "transform": {
                    "location": {
                        "x": -2497.772705078125,
                        "y": 5104.4853515625,
                        "z": 377.862060546875
                    },
                    "rotation": {
                        "roll": -0.03875727951526642,
                        "pitch": -0.9891001582145691,
                        "yaw": -87.12724304199219
                    }
                },
                "velocity": {
                    "x": 0.44819843769073486,
                    "y": -8.736883163452148,
                    "z": -0.11728368699550629
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.79430866241455,
                "transform": {
                    "location": {
                        "x": -2498.6025390625,
                        "y": 5124.91162109375,
                        "z": 378.11676025390625
                    },
                    "rotation": {
                        "roll": -0.017578095197677612,
                        "pitch": -0.43722769618034363,
                        "yaw": -88.30986785888672
                    }
                },
                "velocity": {
                    "x": 0.30052438378334045,
                    "y": -9.78911304473877,
                    "z": -0.10692672431468964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.779373168945312,
                "transform": {
                    "location": {
                        "x": -2498.969482421875,
                        "y": 5142.1328125,
                        "z": 378.2721252441406
                    },
                    "rotation": {
                        "roll": -0.0012206981191411614,
                        "pitch": -0.47527867555618286,
                        "yaw": -89.28226470947266
                    }
                },
                "velocity": {
                    "x": 0.1125713586807251,
                    "y": -8.778340339660645,
                    "z": -0.07392565906047821
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2452.71923828125,
                        "y": 4927.56884765625,
                        "z": 376.0894775390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -55.46445846557617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4045748710632324,
                "transform": {
                    "location": {
                        "x": -2505.928955078125,
                        "y": 5138.5654296875,
                        "z": 378.2778015136719
                    },
                    "rotation": {
                        "roll": -0.007476797327399254,
                        "pitch": -0.3843415677547455,
                        "yaw": -88.9925537109375
                    }
                },
                "velocity": {
                    "x": 0.047060173004865646,
                    "y": -1.4037339687347412,
                    "z": 0.012124842964112759
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.544189453125,
                        "y": 5149.6064453125,
                        "z": 378.3188171386719
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.966375350952148,
                "transform": {
                    "location": {
                        "x": -2502.089111328125,
                        "y": 5127.9306640625,
                        "z": 378.1354064941406
                    },
                    "rotation": {
                        "roll": -0.010345433838665485,
                        "pitch": -0.5475420951843262,
                        "yaw": -88.45244598388672
                    }
                },
                "velocity": {
                    "x": 0.43166300654411316,
                    "y": -15.95970344543457,
                    "z": -0.163350909948349
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.184423446655273,
                "transform": {
                    "location": {
                        "x": -2501.22607421875,
                        "y": 5105.37255859375,
                        "z": 377.8843994140625
                    },
                    "rotation": {
                        "roll": 0.01940162479877472,
                        "pitch": -0.8541492819786072,
                        "yaw": -87.14681243896484
                    }
                },
                "velocity": {
                    "x": 0.8658602833747864,
                    "y": -17.161048889160156,
                    "z": -0.23033832013607025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 22.843442916870117,
                "transform": {
                    "location": {
                        "x": -2496.650390625,
                        "y": 5047.34619140625,
                        "z": 377.0719299316406
                    },
                    "rotation": {
                        "roll": -0.02633669227361679,
                        "pitch": -0.6901222467422485,
                        "yaw": -83.69880676269531
                    }
                },
                "velocity": {
                    "x": 2.4657890796661377,
                    "y": -22.70814323425293,
                    "z": -0.28798046708106995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 23.75847625732422,
                "transform": {
                    "location": {
                        "x": -2493.767333984375,
                        "y": 5023.4560546875,
                        "z": 376.79449462890625
                    },
                    "rotation": {
                        "roll": 0.0320264957845211,
                        "pitch": -0.690579891204834,
                        "yaw": -82.35865020751953
                    }
                },
                "velocity": {
                    "x": 3.1338415145874023,
                    "y": -23.549413681030273,
                    "z": -0.26331430673599243
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 20.53610610961914,
                "transform": {
                    "location": {
                        "x": -2504.77294921875,
                        "y": 5106.1005859375,
                        "z": 377.88763427734375
                    },
                    "rotation": {
                        "roll": -0.1461486518383026,
                        "pitch": -0.5495843291282654,
                        "yaw": -87.14974212646484
                    }
                },
                "velocity": {
                    "x": 0.9930850267410278,
                    "y": -20.51027488708496,
                    "z": -0.2722017467021942
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 21.293399810791016,
                "transform": {
                    "location": {
                        "x": -2503.3251953125,
                        "y": 5082.15576171875,
                        "z": 377.5530090332031
                    },
                    "rotation": {
                        "roll": -0.0838012769818306,
                        "pitch": -0.7074846029281616,
                        "yaw": -85.7548828125
                    }
                },
                "velocity": {
                    "x": 1.5376020669937134,
                    "y": -21.235702514648438,
                    "z": -0.2993888258934021
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 21.942398071289062,
                "transform": {
                    "location": {
                        "x": -2501.39013671875,
                        "y": 5059.2744140625,
                        "z": 377.2748718261719
                    },
                    "rotation": {
                        "roll": -0.03976445645093918,
                        "pitch": -0.7085227966308594,
                        "yaw": -84.43681335449219
                    }
                },
                "velocity": {
                    "x": 2.0994088649749756,
                    "y": -21.839855194091797,
                    "z": -0.28640544414520264
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 22.78082847595215,
                "transform": {
                    "location": {
                        "x": -2498.94580078125,
                        "y": 5036.02490234375,
                        "z": 376.9381408691406
                    },
                    "rotation": {
                        "roll": -0.018920892849564552,
                        "pitch": -0.6980248093605042,
                        "yaw": -82.7967529296875
                    }
                },
                "velocity": {
                    "x": 2.708127737045288,
                    "y": -22.617528915405273,
                    "z": -0.28204408288002014
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4375719726085663,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9994519352912903,
        "expert_target_speed": 17.439055350711932,
        "target_point": [
            12.840746555242688,
            2.520181361285299
        ],
        "target_point_next": [
            42.824504599090794,
            0.7906541151355952
        ]
    },
    "360": {
        "acceleration": [
            3.858771324157715,
            -1.8049240112304688,
            -0.03792017698287964
        ],
        "angular_velocity": [
            -0.35302847623825073,
            -0.578100860118866,
            11.056553840637207
        ],
        "forward_vector": [
            0.20819108188152313,
            -0.9780352115631104,
            -0.010178985074162483
        ],
        "right_vector": [
            0.9778907299041748,
            0.20792871713638306,
            0.022254643961787224
        ],
        "location": [
            -2498.876708984375,
            5074.1962890625,
            377.43194580078125
        ],
        "rotation": [
            -1.2752685546875,
            -0.5832229852676392,
            -77.98300170898438
        ],
        "velocity": [
            3.69018816947937,
            -18.013525009155273,
            -0.25059694051742554
        ],
        "speed": 18.38762007388743,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.71297836303711,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2496.012451171875,
                5041.61181640625,
                376.9994201660156
            ],
            "velocity": [
                2.649968147277832,
                -23.14569091796875,
                -0.29146692156791687
            ],
            "speed_kmh": 83.87538725482304,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.057373046875,
                        "y": 5161.49853515625,
                        "z": 378.42315673828125
                    },
                    "rotation": {
                        "roll": 1.3340479831924767e-08,
                        "pitch": -0.3619931638240814,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.041259765625,
                        "y": 5186.5068359375,
                        "z": 378.5423278808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.027587890625,
                        "y": 5207.5068359375,
                        "z": 378.6152648925781
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.6064453125,
                        "y": 4947.01708984375,
                        "z": 375.9390563964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.402587890625,
                        "y": 4961.8310546875,
                        "z": 376.1405334472656
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.458740234375,
                        "y": 4976.5625,
                        "z": 376.3158264160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.66015625,
                        "y": 4991.3359375,
                        "z": 376.4664306640625
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.415771484375,
                        "y": 5003.111328125,
                        "z": 376.5779113769531
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.617353439331055,
                "transform": {
                    "location": {
                        "x": -2491.9326171875,
                        "y": 5036.1904296875,
                        "z": 376.94073486328125
                    },
                    "rotation": {
                        "roll": 0.0024425936862826347,
                        "pitch": -0.7102645039558411,
                        "yaw": -83.25167083740234
                    }
                },
                "velocity": {
                    "x": 1.132822036743164,
                    "y": -9.549654006958008,
                    "z": -0.11963310092687607
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.293124198913574,
                "transform": {
                    "location": {
                        "x": -2493.854736328125,
                        "y": 5053.4130859375,
                        "z": 377.145263671875
                    },
                    "rotation": {
                        "roll": -0.0010680783307179809,
                        "pitch": -0.7338559627532959,
                        "yaw": -84.1596908569336
                    }
                },
                "velocity": {
                    "x": 0.9480327367782593,
                    "y": -9.243865013122559,
                    "z": -0.11978308111429214
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.675679206848145,
                "transform": {
                    "location": {
                        "x": -2496.4697265625,
                        "y": 5083.21240234375,
                        "z": 377.5551452636719
                    },
                    "rotation": {
                        "roll": -0.0014343512011691928,
                        "pitch": -0.8146639466285706,
                        "yaw": -85.86366271972656
                    }
                },
                "velocity": {
                    "x": 0.7020619511604309,
                    "y": -9.649187088012695,
                    "z": -0.13810087740421295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.783576011657715,
                "transform": {
                    "location": {
                        "x": -2497.6611328125,
                        "y": 5102.33203125,
                        "z": 377.8320617675781
                    },
                    "rotation": {
                        "roll": -0.024566650390625,
                        "pitch": -0.9491230249404907,
                        "yaw": -87.01673126220703
                    }
                },
                "velocity": {
                    "x": 0.46053194999694824,
                    "y": -8.770652770996094,
                    "z": -0.12157093733549118
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.766815185546875,
                "transform": {
                    "location": {
                        "x": -2498.530517578125,
                        "y": 5122.595703125,
                        "z": 378.0947570800781
                    },
                    "rotation": {
                        "roll": -0.013031034730374813,
                        "pitch": -0.8660610914230347,
                        "yaw": -88.13204956054688
                    }
                },
                "velocity": {
                    "x": 0.2857033908367157,
                    "y": -8.761618614196777,
                    "z": -0.09732332080602646
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.296714782714844,
                "transform": {
                    "location": {
                        "x": -2498.9384765625,
                        "y": 5139.8505859375,
                        "z": 378.252685546875
                    },
                    "rotation": {
                        "roll": -0.001068109180778265,
                        "pitch": -0.4853259027004242,
                        "yaw": -89.16887664794922
                    }
                },
                "velocity": {
                    "x": 0.14674913883209229,
                    "y": -9.295208930969238,
                    "z": -0.08040428161621094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2452.02587890625,
                        "y": 4926.52978515625,
                        "z": 376.04827880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -55.46445846557617
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2888717651367188,
                "transform": {
                    "location": {
                        "x": -2505.91552734375,
                        "y": 5138.1083984375,
                        "z": 378.2765197753906
                    },
                    "rotation": {
                        "roll": -0.007019061129540205,
                        "pitch": -0.3890065848827362,
                        "yaw": -88.80012512207031
                    }
                },
                "velocity": {
                    "x": 0.07547373324632645,
                    "y": -2.287569761276245,
                    "z": -0.016200494021177292
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.500732421875,
                        "y": 5144.0771484375,
                        "z": 378.29119873046875
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.644468307495117,
                "transform": {
                    "location": {
                        "x": -2501.971923828125,
                        "y": 5123.84619140625,
                        "z": 378.092529296875
                    },
                    "rotation": {
                        "roll": -0.014007596299052238,
                        "pitch": -0.5810578465461731,
                        "yaw": -88.19908905029297
                    }
                },
                "velocity": {
                    "x": 0.5243656039237976,
                    "y": -16.635234832763672,
                    "z": -0.17970450222492218
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.47696876525879,
                "transform": {
                    "location": {
                        "x": -2501.000244140625,
                        "y": 5101.04296875,
                        "z": 377.82464599609375
                    },
                    "rotation": {
                        "roll": 0.01656327396631241,
                        "pitch": -0.8446348309516907,
                        "yaw": -86.89385223388672
                    }
                },
                "velocity": {
                    "x": 0.9481838941574097,
                    "y": -17.449512481689453,
                    "z": -0.2448163479566574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.29871940612793,
                "transform": {
                    "location": {
                        "x": -2496.012451171875,
                        "y": 5041.61181640625,
                        "z": 376.9994201660156
                    },
                    "rotation": {
                        "roll": -0.02581786923110485,
                        "pitch": -0.6880185604095459,
                        "yaw": -83.35948944091797
                    }
                },
                "velocity": {
                    "x": 2.649968147277832,
                    "y": -23.14569091796875,
                    "z": -0.29146692156791687
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.201871871948242,
                "transform": {
                    "location": {
                        "x": -2492.960205078125,
                        "y": 5017.5107421875,
                        "z": 376.7294006347656
                    },
                    "rotation": {
                        "roll": 0.033309079706668854,
                        "pitch": -0.6540520191192627,
                        "yaw": -81.99229431152344
                    }
                },
                "velocity": {
                    "x": 3.3387980461120605,
                    "y": -23.9691104888916,
                    "z": -0.2544780671596527
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 20.9755802154541,
                "transform": {
                    "location": {
                        "x": -2504.5078125,
                        "y": 5100.91259765625,
                        "z": 377.8171691894531
                    },
                    "rotation": {
                        "roll": -0.1526794582605362,
                        "pitch": -0.5961593389511108,
                        "yaw": -86.8473129272461
                    }
                },
                "velocity": {
                    "x": 1.1230336427688599,
                    "y": -20.94345474243164,
                    "z": -0.2922937870025635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 21.58753776550293,
                "transform": {
                    "location": {
                        "x": -2502.92236328125,
                        "y": 5076.80908203125,
                        "z": 377.4781799316406
                    },
                    "rotation": {
                        "roll": -0.0877075046300888,
                        "pitch": -0.7233579754829407,
                        "yaw": -85.435302734375
                    }
                },
                "velocity": {
                    "x": 1.6776061058044434,
                    "y": -21.52017593383789,
                    "z": -0.2990303039550781
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 22.309219360351562,
                "transform": {
                    "location": {
                        "x": -2500.84814453125,
                        "y": 5053.76953125,
                        "z": 377.2033996582031
                    },
                    "rotation": {
                        "roll": -0.0412902757525444,
                        "pitch": -0.6946165561676025,
                        "yaw": -84.10753631591797
                    }
                },
                "velocity": {
                    "x": 2.2582499980926514,
                    "y": -22.19278907775879,
                    "z": -0.28569692373275757
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 23.19367218017578,
                "transform": {
                    "location": {
                        "x": -2498.248291015625,
                        "y": 5030.31884765625,
                        "z": 376.8681945800781
                    },
                    "rotation": {
                        "roll": -0.01925661228597164,
                        "pitch": -0.6651237607002258,
                        "yaw": -82.45709991455078
                    }
                },
                "velocity": {
                    "x": 2.8906478881835938,
                    "y": -23.011198043823242,
                    "z": -0.2744505703449249
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0013600587844849,
        "expert_target_speed": 17.631571653407832,
        "target_point": [
            8.423200760169921,
            2.048992638570587
        ],
        "target_point_next": [
            38.29028807954555,
            -1.109188164358888
        ]
    },
    "365": {
        "acceleration": [
            2.044210433959961,
            1.1971664428710938,
            0.008728504180908203
        ],
        "angular_velocity": [
            0.4672795236110687,
            0.9641997218132019,
            6.944561004638672
        ],
        "forward_vector": [
            0.2498961091041565,
            -0.9682201147079468,
            -0.010085172951221466
        ],
        "right_vector": [
            0.9680848717689514,
            0.24962900578975677,
            0.022292474284768105
        ],
        "location": [
            -2497.84765625,
            5069.6513671875,
            377.3691711425781
        ],
        "rotation": [
            -1.277435541152954,
            -0.5778476595878601,
            -75.52788543701172
        ],
        "velocity": [
            4.4872636795043945,
            -18.16497802734375,
            -0.2509241998195648
        ],
        "speed": 18.71101178619907,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.97297668457031,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2495.327392578125,
                5035.77490234375,
                376.9258117675781
            ],
            "velocity": [
                2.8321306705474854,
                -23.499311447143555,
                -0.29428574442863464
            ],
            "speed_kmh": 85.21628177259727,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.058837890625,
                        "y": 5159.16943359375,
                        "z": 378.4078369140625
                    },
                    "rotation": {
                        "roll": -1.3340534898986789e-08,
                        "pitch": -0.39864397048950195,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04248046875,
                        "y": 5184.0068359375,
                        "z": 378.5328369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.029052734375,
                        "y": 5205.0068359375,
                        "z": 378.6072998046875
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -2502.56103515625,
                        "y": 5156.29736328125,
                        "z": 378.774169921875
                    },
                    "rotation": {
                        "roll": 1.3340534898986789e-08,
                        "pitch": -0.39837759733200073,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.329833984375,
                        "y": 4944.53125,
                        "z": 375.9039001464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.083984375,
                        "y": 4959.3505859375,
                        "z": 376.10845947265625
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.09619140625,
                        "y": 4974.08935546875,
                        "z": 376.28814697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.29150390625,
                        "y": 4988.86279296875,
                        "z": 376.44287109375
                    },
                    "rotation": {
                        "roll": 5.336333686045691e-08,
                        "pitch": -0.5530403852462769,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.046875,
                        "y": 5000.638671875,
                        "z": 376.5545349121094
                    },
                    "rotation": {
                        "roll": 5.336318409376872e-08,
                        "pitch": -0.5361356735229492,
                        "yaw": -81.5203628540039
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.617222785949707,
                "transform": {
                    "location": {
                        "x": -2491.64208984375,
                        "y": 5033.8037109375,
                        "z": 376.91119384765625
                    },
                    "rotation": {
                        "roll": 0.006595565937459469,
                        "pitch": -0.6945482492446899,
                        "yaw": -83.01852416992188
                    }
                },
                "velocity": {
                    "x": 1.1807993650436401,
                    "y": -9.543745040893555,
                    "z": -0.1167408898472786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.25200080871582,
                "transform": {
                    "location": {
                        "x": -2493.6162109375,
                        "y": 5051.107421875,
                        "z": 377.11566162109375
                    },
                    "rotation": {
                        "roll": -0.005401600152254105,
                        "pitch": -0.7325104475021362,
                        "yaw": -84.05934143066406
                    }
                },
                "velocity": {
                    "x": 0.9780009984970093,
                    "y": -9.19941234588623,
                    "z": -0.11763784289360046
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.701666831970215,
                "transform": {
                    "location": {
                        "x": -2496.29248046875,
                        "y": 5080.796875,
                        "z": 377.5208435058594
                    },
                    "rotation": {
                        "roll": -0.001556423376314342,
                        "pitch": -0.8064882159233093,
                        "yaw": -85.74337005615234
                    }
                },
                "velocity": {
                    "x": 0.730785608291626,
                    "y": -9.673154830932617,
                    "z": -0.13550476729869843
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650030136108398,
                "transform": {
                    "location": {
                        "x": -2497.53857421875,
                        "y": 5100.05810546875,
                        "z": 377.7989501953125
                    },
                    "rotation": {
                        "roll": -0.039215099066495895,
                        "pitch": -0.6708679795265198,
                        "yaw": -86.8795394897461
                    }
                },
                "velocity": {
                    "x": 0.5397158265113831,
                    "y": -9.633950233459473,
                    "z": -0.13709041476249695
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.434711456298828,
                "transform": {
                    "location": {
                        "x": -2498.459716796875,
                        "y": 5120.4736328125,
                        "z": 378.0704345703125
                    },
                    "rotation": {
                        "roll": -0.015350297093391418,
                        "pitch": -0.815613329410553,
                        "yaw": -88.05182647705078
                    }
                },
                "velocity": {
                    "x": 0.2987082600593567,
                    "y": -8.428868293762207,
                    "z": -0.09648889303207397
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.368261337280273,
                "transform": {
                    "location": {
                        "x": -2498.902587890625,
                        "y": 5137.6474609375,
                        "z": 378.2337341308594
                    },
                    "rotation": {
                        "roll": -0.002288819756358862,
                        "pitch": -0.5163554549217224,
                        "yaw": -89.023681640625
                    }
                },
                "velocity": {
                    "x": 0.14599959552288055,
                    "y": -8.36664867401123,
                    "z": -0.07531572878360748
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.53759765625,
                        "y": 4925.85498046875,
                        "z": 376.0418701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6536529064178467,
                "transform": {
                    "location": {
                        "x": -2505.89306640625,
                        "y": 5137.36572265625,
                        "z": 378.2699890136719
                    },
                    "rotation": {
                        "roll": -0.009796146303415298,
                        "pitch": -0.36794909834861755,
                        "yaw": -88.56451416015625
                    }
                },
                "velocity": {
                    "x": 0.12210724502801895,
                    "y": -3.651453971862793,
                    "z": -0.03395233675837517
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.44580078125,
                        "y": 5139.68408203125,
                        "z": 378.2628173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.995420455932617,
                "transform": {
                    "location": {
                        "x": -2501.828857421875,
                        "y": 5119.63427734375,
                        "z": 378.0459289550781
                    },
                    "rotation": {
                        "roll": -0.01589967869222164,
                        "pitch": -0.6166635751724243,
                        "yaw": -87.87264251708984
                    }
                },
                "velocity": {
                    "x": 0.6241565346717834,
                    "y": -16.982831954956055,
                    "z": -0.1954183131456375
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.89435577392578,
                "transform": {
                    "location": {
                        "x": -2500.7509765625,
                        "y": 5096.6298828125,
                        "z": 377.7616271972656
                    },
                    "rotation": {
                        "roll": 0.016667157411575317,
                        "pitch": -0.8646199107170105,
                        "yaw": -86.64169311523438
                    }
                },
                "velocity": {
                    "x": 1.0494314432144165,
                    "y": -17.861684799194336,
                    "z": -0.25857818126678467
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.671188354492188,
                "transform": {
                    "location": {
                        "x": -2495.327392578125,
                        "y": 5035.77490234375,
                        "z": 376.9258117675781
                    },
                    "rotation": {
                        "roll": -0.02719110995531082,
                        "pitch": -0.6846922636032104,
                        "yaw": -83.00515747070312
                    }
                },
                "velocity": {
                    "x": 2.8321306705474854,
                    "y": -23.499311447143555,
                    "z": -0.29428574442863464
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.302547454833984,
                "transform": {
                    "location": {
                        "x": -2492.107177734375,
                        "y": 5011.49951171875,
                        "z": 376.6668395996094
                    },
                    "rotation": {
                        "roll": 0.03164021298289299,
                        "pitch": -0.5910298824310303,
                        "yaw": -81.6800537109375
                    }
                },
                "velocity": {
                    "x": 3.4836642742156982,
                    "y": -24.050363540649414,
                    "z": -0.2407064586877823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 21.22187042236328,
                "transform": {
                    "location": {
                        "x": -2504.21142578125,
                        "y": 5095.64453125,
                        "z": 377.7421875
                    },
                    "rotation": {
                        "roll": -0.1590881496667862,
                        "pitch": -0.6815435290336609,
                        "yaw": -86.54186248779297
                    }
                },
                "velocity": {
                    "x": 1.247501015663147,
                    "y": -21.182947158813477,
                    "z": -0.3070972263813019
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 21.915740966796875,
                "transform": {
                    "location": {
                        "x": -2502.484375,
                        "y": 5071.38916015625,
                        "z": 377.4037170410156
                    },
                    "rotation": {
                        "roll": -0.08657832443714142,
                        "pitch": -0.7109338641166687,
                        "yaw": -85.12594604492188
                    }
                },
                "velocity": {
                    "x": 1.8210798501968384,
                    "y": -21.837909698486328,
                    "z": -0.2984156310558319
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 22.711050033569336,
                "transform": {
                    "location": {
                        "x": -2500.264892578125,
                        "y": 5048.1708984375,
                        "z": 377.13201904296875
                    },
                    "rotation": {
                        "roll": -0.042755115777254105,
                        "pitch": -0.677424967288971,
                        "yaw": -83.76788330078125
                    }
                },
                "velocity": {
                    "x": 2.428286552429199,
                    "y": -22.579069137573242,
                    "z": -0.2844280004501343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 23.604320526123047,
                "transform": {
                    "location": {
                        "x": -2497.504638671875,
                        "y": 5024.5146484375,
                        "z": 376.8004455566406
                    },
                    "rotation": {
                        "roll": -0.019134487956762314,
                        "pitch": -0.629811704158783,
                        "yaw": -82.11763763427734
                    }
                },
                "velocity": {
                    "x": 3.078016996383667,
                    "y": -23.401283264160156,
                    "z": -0.2640007436275482
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.001861810684204,
        "expert_target_speed": 17.49892856576539,
        "target_point": [
            33.54974751538249,
            -2.609004264466874
        ],
        "target_point_next": [
            85.16177642377845,
            -4.48377846727551
        ]
    },
    "370": {
        "acceleration": [
            -1.2378692626953125,
            3.7129974365234375,
            0.07553607225418091
        ],
        "angular_velocity": [
            0.5012798309326172,
            2.8461294174194336,
            -3.8114535808563232
        ],
        "forward_vector": [
            0.25297629833221436,
            -0.9673471450805664,
            -0.015569771640002728
        ],
        "right_vector": [
            0.9674329161643982,
            0.2527877390384674,
            0.013107181526720524
        ],
        "location": [
            -2496.723876953125,
            5065.205078125,
            377.3093566894531
        ],
        "rotation": [
            -0.7510987520217896,
            -0.8921182751655579,
            -75.344482421875
        ],
        "velocity": [
            4.435157299041748,
            -17.359243392944336,
            -0.2354332059621811
        ],
        "speed": 17.916862209737644,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -3,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.386016845703125,
        "front_vehicle_info": {
            "id": 3705,
            "type": "vehicle.audi.tt",
            "location": [
                -2494.600830078125,
                5029.8857421875,
                376.8539733886719
            ],
            "velocity": [
                2.985732316970825,
                -23.557024002075195,
                -0.27870994806289673
            ],
            "speed_kmh": 85.48962807694146,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.060546875,
                        "y": 5156.86279296875,
                        "z": 378.39251708984375
                    },
                    "rotation": {
                        "roll": -1.3340534898986789e-08,
                        "pitch": -0.39864397048950195,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04443359375,
                        "y": 5181.5068359375,
                        "z": 378.5234680175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03076171875,
                        "y": 5202.5068359375,
                        "z": 378.5992736816406
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.559326171875,
                        "y": 5154.22021484375,
                        "z": 378.619873046875
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.064208984375,
                        "y": 4942.0458984375,
                        "z": 375.86859130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.767333984375,
                        "y": 4956.87109375,
                        "z": 376.0760803222656
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.73828125,
                        "y": 4971.6162109375,
                        "z": 376.25994873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.9228515625,
                        "y": 4986.3896484375,
                        "z": 376.41888427734375
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.431605339050293,
                "transform": {
                    "location": {
                        "x": -2486.731201171875,
                        "y": 4998.52099609375,
                        "z": 376.527099609375
                    },
                    "rotation": {
                        "roll": -0.00039675922016613185,
                        "pitch": -0.5938097834587097,
                        "yaw": -81.51872253417969
                    }
                },
                "velocity": {
                    "x": 1.2417352199554443,
                    "y": -8.339052200317383,
                    "z": -0.10133442282676697
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.61729621887207,
                "transform": {
                    "location": {
                        "x": -2491.34716796875,
                        "y": 5031.41748046875,
                        "z": 376.88226318359375
                    },
                    "rotation": {
                        "roll": 0.0029767334926873446,
                        "pitch": -0.683742880821228,
                        "yaw": -82.96804809570312
                    }
                },
                "velocity": {
                    "x": 1.1800998449325562,
                    "y": -9.543930053710938,
                    "z": -0.11467361450195312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.293052673339844,
                "transform": {
                    "location": {
                        "x": -2493.37060546875,
                        "y": 5048.80224609375,
                        "z": 377.08624267578125
                    },
                    "rotation": {
                        "roll": -0.0031128174159675837,
                        "pitch": -0.7296075820922852,
                        "yaw": -83.88108825683594
                    }
                },
                "velocity": {
                    "x": 0.9945723414421082,
                    "y": -9.238911628723145,
                    "z": -0.11904365569353104
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.675297737121582,
                "transform": {
                    "location": {
                        "x": -2496.1083984375,
                        "y": 5078.3818359375,
                        "z": 377.4869689941406
                    },
                    "rotation": {
                        "roll": -0.0010070708813145757,
                        "pitch": -0.8002864122390747,
                        "yaw": -85.5771713256836
                    }
                },
                "velocity": {
                    "x": 0.750089168548584,
                    "y": -9.645240783691406,
                    "z": -0.13443613052368164
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.731758117675781,
                "transform": {
                    "location": {
                        "x": -2497.399169921875,
                        "y": 5097.59130859375,
                        "z": 377.7637023925781
                    },
                    "rotation": {
                        "roll": -0.030212443321943283,
                        "pitch": -0.686768651008606,
                        "yaw": -86.72969818115234
                    }
                },
                "velocity": {
                    "x": 0.558483362197876,
                    "y": -9.71468448638916,
                    "z": -0.14186497032642365
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.21181869506836,
                "transform": {
                    "location": {
                        "x": -2498.380615234375,
                        "y": 5118.27978515625,
                        "z": 378.0426940917969
                    },
                    "rotation": {
                        "roll": -0.015258773230016232,
                        "pitch": -0.5241418480873108,
                        "yaw": -87.87688446044922
                    }
                },
                "velocity": {
                    "x": 0.34587234258651733,
                    "y": -9.204710006713867,
                    "z": -0.10623511672019958
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.213175773620605,
                "transform": {
                    "location": {
                        "x": -2498.865478515625,
                        "y": 5135.59033203125,
                        "z": 378.2150573730469
                    },
                    "rotation": {
                        "roll": -0.0021362376864999533,
                        "pitch": -0.5434849262237549,
                        "yaw": -88.92717742919922
                    }
                },
                "velocity": {
                    "x": 0.1656639128923416,
                    "y": -8.211152076721191,
                    "z": -0.07614278048276901
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.883056640625,
                        "y": 5135.9208984375,
                        "z": 378.22760009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.37060546875,
                        "y": 5135.3720703125,
                        "z": 378.2199401855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 17.7136173248291,
                "transform": {
                    "location": {
                        "x": -2501.662841796875,
                        "y": 5115.30126953125,
                        "z": 377.9949951171875
                    },
                    "rotation": {
                        "roll": -0.013458245433866978,
                        "pitch": -0.6345518827438354,
                        "yaw": -87.6646728515625
                    }
                },
                "velocity": {
                    "x": 0.7195827960968018,
                    "y": -17.6977596282959,
                    "z": -0.2092224806547165
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.81937026977539,
                "transform": {
                    "location": {
                        "x": -2500.479248046875,
                        "y": 5092.150390625,
                        "z": 377.6961364746094
                    },
                    "rotation": {
                        "roll": 0.01659000851213932,
                        "pitch": -0.8379207253456116,
                        "yaw": -86.39385223388672
                    }
                },
                "velocity": {
                    "x": 1.1230601072311401,
                    "y": -17.782054901123047,
                    "z": -0.25925400853157043
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.747119903564453,
                "transform": {
                    "location": {
                        "x": -2494.600830078125,
                        "y": 5029.8857421875,
                        "z": 376.8539733886719
                    },
                    "rotation": {
                        "roll": -0.026641832664608955,
                        "pitch": -0.6662302613258362,
                        "yaw": -82.67515563964844
                    }
                },
                "velocity": {
                    "x": 2.985732316970825,
                    "y": -23.557024002075195,
                    "z": -0.27870994806289673
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.234086990356445,
                "transform": {
                    "location": {
                        "x": -2491.226806640625,
                        "y": 5005.49755859375,
                        "z": 376.6080322265625
                    },
                    "rotation": {
                        "roll": 0.02261526882648468,
                        "pitch": -0.5367777347564697,
                        "yaw": -81.49745178222656
                    }
                },
                "velocity": {
                    "x": 3.5602200031280518,
                    "y": -23.970075607299805,
                    "z": -0.22640402615070343
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 21.534700393676758,
                "transform": {
                    "location": {
                        "x": -2503.8828125,
                        "y": 5090.3125,
                        "z": 377.6643981933594
                    },
                    "rotation": {
                        "roll": -0.1699828803539276,
                        "pitch": -0.6918298006057739,
                        "yaw": -86.22567749023438
                    }
                },
                "velocity": {
                    "x": 1.387037754058838,
                    "y": -21.487728118896484,
                    "z": -0.31149253249168396
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 22.30910873413086,
                "transform": {
                    "location": {
                        "x": -2502.00830078125,
                        "y": 5065.880859375,
                        "z": 377.3292236328125
                    },
                    "rotation": {
                        "roll": -0.08956903219223022,
                        "pitch": -0.6857577562332153,
                        "yaw": -84.80157470703125
                    }
                },
                "velocity": {
                    "x": 1.9764177799224854,
                    "y": -22.219377517700195,
                    "z": -0.2989314794540405
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.11121368408203,
                "transform": {
                    "location": {
                        "x": -2499.63818359375,
                        "y": 5042.4755859375,
                        "z": 377.0602111816406
                    },
                    "rotation": {
                        "roll": -0.0448608323931694,
                        "pitch": -0.6744675040245056,
                        "yaw": -83.43053436279297
                    }
                },
                "velocity": {
                    "x": 2.604231595993042,
                    "y": -22.962202072143555,
                    "z": -0.2889123558998108
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 24.01276397705078,
                "transform": {
                    "location": {
                        "x": -2496.713623046875,
                        "y": 5018.61328125,
                        "z": 376.735107421875
                    },
                    "rotation": {
                        "roll": -0.01913450099527836,
                        "pitch": -0.5957973599433899,
                        "yaw": -81.77191925048828
                    }
                },
                "velocity": {
                    "x": 3.269834280014038,
                    "y": -23.78771209716797,
                    "z": -0.2563740015029907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0004669427871704,
        "expert_target_speed": 16.57312511140893,
        "target_point": [
            28.95527501276526,
            -2.6786432135128697
        ],
        "target_point_next": [
            80.56103943896063,
            -4.718590355142554
        ]
    },
    "375": {
        "acceleration": [
            -2.1729135513305664,
            2.037811279296875,
            0.038456618785858154
        ],
        "angular_velocity": [
            -0.4575108587741852,
            2.332306385040283,
            -6.34950590133667
        ],
        "forward_vector": [
            0.22974029183387756,
            -0.9730883240699768,
            -0.017846468836069107
        ],
        "right_vector": [
            0.9732496738433838,
            0.22974109649658203,
            0.0020327335223555565
        ],
        "location": [
            -2495.669921875,
            5060.95849609375,
            377.2525634765625
        ],
        "rotation": [
            -0.11648568511009216,
            -1.022581696510315,
            -76.716064453125
        ],
        "velocity": [
            3.987046003341675,
            -16.718660354614258,
            -0.22442756593227386
        ],
        "speed": 17.18749952394802,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.685232162475586,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2493.12060546875,
                5046.49755859375,
                377.0567932128906
            ],
            "velocity": [
                1.023176670074463,
                -9.194056510925293,
                -0.11599813401699066
            ],
            "speed_kmh": 33.30554960723705,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.059814453125,
                        "y": 5154.48681640625,
                        "z": 378.3755798339844
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0458984375,
                        "y": 5179.0068359375,
                        "z": 378.5133056640625
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0322265625,
                        "y": 5200.0068359375,
                        "z": 378.59100341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.547607421875,
                        "y": 5149.8095703125,
                        "z": 378.360107421875
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.802734375,
                        "y": 4939.560546875,
                        "z": 375.8332214355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.464111328125,
                        "y": 4954.3896484375,
                        "z": 376.04248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.390625,
                        "y": 4969.140625,
                        "z": 376.23065185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.553955078125,
                        "y": 4983.9169921875,
                        "z": 376.3939514160156
                    },
                    "rotation": {
                        "roll": 2.668183363141452e-08,
                        "pitch": -0.5883456468582153,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.376873016357422,
                "transform": {
                    "location": {
                        "x": -2486.42138671875,
                        "y": 4996.44287109375,
                        "z": 376.50433349609375
                    },
                    "rotation": {
                        "roll": -0.00045777714694850147,
                        "pitch": -0.5503561496734619,
                        "yaw": -81.52103424072266
                    }
                },
                "velocity": {
                    "x": 1.2350964546203613,
                    "y": -8.284906387329102,
                    "z": -0.08284858614206314
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.616745948791504,
                "transform": {
                    "location": {
                        "x": -2491.04443359375,
                        "y": 5029.03271484375,
                        "z": 376.8537902832031
                    },
                    "rotation": {
                        "roll": 0.00728177186101675,
                        "pitch": -0.6691262722015381,
                        "yaw": -82.72853088378906
                    }
                },
                "velocity": {
                    "x": 1.2292269468307495,
                    "y": -9.537177085876465,
                    "z": -0.11424354463815689
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.251542091369629,
                "transform": {
                    "location": {
                        "x": -2493.12060546875,
                        "y": 5046.49755859375,
                        "z": 377.0567932128906
                    },
                    "rotation": {
                        "roll": -0.0050049275159835815,
                        "pitch": -0.7247581481933594,
                        "yaw": -83.7709732055664
                    }
                },
                "velocity": {
                    "x": 1.023176670074463,
                    "y": -9.194056510925293,
                    "z": -0.11599813401699066
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.701175689697266,
                "transform": {
                    "location": {
                        "x": -2495.9189453125,
                        "y": 5075.96728515625,
                        "z": 377.4532775878906
                    },
                    "rotation": {
                        "roll": -0.0026550123002380133,
                        "pitch": -0.7967824935913086,
                        "yaw": -85.46085357666016
                    }
                },
                "velocity": {
                    "x": 0.7783122658729553,
                    "y": -9.66896915435791,
                    "z": -0.1344313621520996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.06857967376709,
                "transform": {
                    "location": {
                        "x": -2497.259521484375,
                        "y": 5095.220703125,
                        "z": 377.7301330566406
                    },
                    "rotation": {
                        "roll": -0.04232792556285858,
                        "pitch": -0.9465616941452026,
                        "yaw": -86.58196258544922
                    }
                },
                "velocity": {
                    "x": 0.552658200263977,
                    "y": -9.050756454467773,
                    "z": -0.13234399259090424
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.019380569458008,
                "transform": {
                    "location": {
                        "x": -2498.288330078125,
                        "y": 5115.8466796875,
                        "z": 378.01324462890625
                    },
                    "rotation": {
                        "roll": -0.009277346543967724,
                        "pitch": -0.4365788400173187,
                        "yaw": -87.8056869506836
                    }
                },
                "velocity": {
                    "x": 0.39591917395591736,
                    "y": -10.010844230651855,
                    "z": -0.1192670539021492
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.821044921875,
                        "y": 5133.181640625,
                        "z": 378.19549560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.840087890625,
                        "y": 5133.837890625,
                        "z": 378.2067565917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.27685546875,
                        "y": 5130.95849609375,
                        "z": 378.1773986816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 17.274717330932617,
                "transform": {
                    "location": {
                        "x": -2501.4775390625,
                        "y": 5110.9033203125,
                        "z": 377.9412841796875
                    },
                    "rotation": {
                        "roll": -0.012359664775431156,
                        "pitch": -0.738036036491394,
                        "yaw": -87.44908905029297
                    }
                },
                "velocity": {
                    "x": 0.7600183486938477,
                    "y": -17.256587982177734,
                    "z": -0.22001658380031586
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.04999542236328,
                "transform": {
                    "location": {
                        "x": -2500.19677734375,
                        "y": 5087.81298828125,
                        "z": 377.6325988769531
                    },
                    "rotation": {
                        "roll": 0.018703769892454147,
                        "pitch": -0.7603092789649963,
                        "yaw": -86.130126953125
                    }
                },
                "velocity": {
                    "x": 1.1541143655776978,
                    "y": -17.00910758972168,
                    "z": -0.24622388184070587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.662179946899414,
                "transform": {
                    "location": {
                        "x": -2493.841064453125,
                        "y": 5024.0087890625,
                        "z": 376.7857971191406
                    },
                    "rotation": {
                        "roll": -0.025512689724564552,
                        "pitch": -0.6444966197013855,
                        "yaw": -82.34786224365234
                    }
                },
                "velocity": {
                    "x": 3.109827756881714,
                    "y": -23.4554443359375,
                    "z": -0.2643784284591675
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.220516204833984,
                "transform": {
                    "location": {
                        "x": -2490.33203125,
                        "y": 4999.5087890625,
                        "z": 376.5518798828125
                    },
                    "rotation": {
                        "roll": 0.011025126092135906,
                        "pitch": -0.5350633263587952,
                        "yaw": -81.43446350097656
                    }
                },
                "velocity": {
                    "x": 3.595393180847168,
                    "y": -23.95111846923828,
                    "z": -0.22450728714466095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 21.883695602416992,
                "transform": {
                    "location": {
                        "x": -2503.52001953125,
                        "y": 5084.9072265625,
                        "z": 377.58648681640625
                    },
                    "rotation": {
                        "roll": -0.1737060546875,
                        "pitch": -0.6794466972351074,
                        "yaw": -85.902099609375
                    }
                },
                "velocity": {
                    "x": 1.5294365882873535,
                    "y": -21.82796287536621,
                    "z": -0.31146204471588135
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 22.70085334777832,
                "transform": {
                    "location": {
                        "x": -2501.49267578125,
                        "y": 5060.2763671875,
                        "z": 377.2549133300781
                    },
                    "rotation": {
                        "roll": -0.0928955078125,
                        "pitch": -0.669283390045166,
                        "yaw": -84.47737884521484
                    }
                },
                "velocity": {
                    "x": 2.14054012298584,
                    "y": -22.597736358642578,
                    "z": -0.2985512316226959
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.49628257751465,
                "transform": {
                    "location": {
                        "x": -2498.96630859375,
                        "y": 5036.6865234375,
                        "z": 376.98724365234375
                    },
                    "rotation": {
                        "roll": -0.04541013389825821,
                        "pitch": -0.6711958050727844,
                        "yaw": -83.07542419433594
                    }
                },
                "velocity": {
                    "x": 2.7859947681427,
                    "y": -23.328712463378906,
                    "z": -0.29104799032211304
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 24.31855010986328,
                "transform": {
                    "location": {
                        "x": -2495.875,
                        "y": 5012.62353515625,
                        "z": 376.67242431640625
                    },
                    "rotation": {
                        "roll": -0.0195007361471653,
                        "pitch": -0.5651229619979858,
                        "yaw": -81.42528533935547
                    }
                },
                "velocity": {
                    "x": 3.4499223232269287,
                    "y": -24.07134437561035,
                    "z": -0.24553075432777405
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0005923509597778,
        "expert_target_speed": 15.352649155477987,
        "target_point": [
            24.635963640912678,
            -2.034783946839865
        ],
        "target_point_next": [
            76.27577108573036,
            -2.8388942718381323
        ]
    },
    "380": {
        "acceleration": [
            -1.9206523895263672,
            -1.6139602661132812,
            -0.0031366944313049316
        ],
        "angular_velocity": [
            -1.266089677810669,
            1.322769284248352,
            -7.571146488189697
        ],
        "forward_vector": [
            0.199575275182724,
            -0.9797648191452026,
            -0.015185844153165817
        ],
        "right_vector": [
            0.9798382520675659,
            0.1996895968914032,
            -0.006410306319594383
        ],
        "location": [
            -2494.737548828125,
            5056.78466796875,
            377.19647216796875
        ],
        "rotation": [
            0.36732837557792664,
            -0.870118260383606,
            -78.48653411865234
        ],
        "velocity": [
            3.4857089519500732,
            -16.81666374206543,
            -0.2208113968372345
        ],
        "speed": 17.174118501728202,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.730123519897461,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2492.86376953125,
                5044.1943359375,
                377.0275573730469
            ],
            "velocity": [
                1.038967251777649,
                -9.234107971191406,
                -0.11580807715654373
            ],
            "speed_kmh": 33.455141962345614,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.056884765625,
                        "y": 5152.02099609375,
                        "z": 378.3574523925781
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.047607421875,
                        "y": 5176.5068359375,
                        "z": 378.50311279296875
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.033935546875,
                        "y": 5197.5068359375,
                        "z": 378.5824890136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.51904296875,
                        "y": 5145.525390625,
                        "z": 378.3064880371094
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.552001953125,
                        "y": 4937.0732421875,
                        "z": 375.7972106933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.1689453125,
                        "y": 4951.90771484375,
                        "z": 376.00799560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.04736328125,
                        "y": 4966.6640625,
                        "z": 376.2010192871094
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.185302734375,
                        "y": 4981.4443359375,
                        "z": 376.3684997558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.950812339782715,
                "transform": {
                    "location": {
                        "x": -2486.1279296875,
                        "y": 4994.4716796875,
                        "z": 376.4857482910156
                    },
                    "rotation": {
                        "roll": 0.0002682606573216617,
                        "pitch": -0.6188902258872986,
                        "yaw": -81.51488494873047
                    }
                },
                "velocity": {
                    "x": 1.0247669219970703,
                    "y": -6.874538421630859,
                    "z": -0.06609631329774857
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.616752624511719,
                "transform": {
                    "location": {
                        "x": -2490.737060546875,
                        "y": 5026.6484375,
                        "z": 376.8259582519531
                    },
                    "rotation": {
                        "roll": 0.0033138450235128403,
                        "pitch": -0.6546940803527832,
                        "yaw": -82.67125701904297
                    }
                },
                "velocity": {
                    "x": 1.2312766313552856,
                    "y": -9.53696346282959,
                    "z": -0.11052530258893967
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.293095588684082,
                "transform": {
                    "location": {
                        "x": -2492.86376953125,
                        "y": 5044.1943359375,
                        "z": 377.0275573730469
                    },
                    "rotation": {
                        "roll": -0.003326434176415205,
                        "pitch": -0.7238429188728333,
                        "yaw": -83.60247039794922
                    }
                },
                "velocity": {
                    "x": 1.038967251777649,
                    "y": -9.234107971191406,
                    "z": -0.11580807715654373
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.674778938293457,
                "transform": {
                    "location": {
                        "x": -2495.72314453125,
                        "y": 5073.5537109375,
                        "z": 377.4197998046875
                    },
                    "rotation": {
                        "roll": -3.0525276088155806e-05,
                        "pitch": -0.7857039570808411,
                        "yaw": -85.29705047607422
                    }
                },
                "velocity": {
                    "x": 0.79718017578125,
                    "y": -9.640952110290527,
                    "z": -0.1337743103504181
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.476951599121094,
                "transform": {
                    "location": {
                        "x": -2497.1279296875,
                        "y": 5093.08056640625,
                        "z": 377.6993408203125
                    },
                    "rotation": {
                        "roll": -0.028045659884810448,
                        "pitch": -1.1062856912612915,
                        "yaw": -86.4496841430664
                    }
                },
                "velocity": {
                    "x": 0.5289771556854248,
                    "y": -8.45953369140625,
                    "z": -0.12318676710128784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.16391372680664,
                "transform": {
                    "location": {
                        "x": -2498.19140625,
                        "y": 5113.4404296875,
                        "z": 377.9870300292969
                    },
                    "rotation": {
                        "roll": -0.018005331978201866,
                        "pitch": -0.8413426280021667,
                        "yaw": -87.6128158569336
                    }
                },
                "velocity": {
                    "x": 0.3844175338745117,
                    "y": -9.155131340026855,
                    "z": -0.11451902240514755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.770263671875,
                        "y": 5130.74609375,
                        "z": 378.1741027832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.796875,
                        "y": 5131.75439453125,
                        "z": 378.18609619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.166748046875,
                        "y": 5126.7080078125,
                        "z": 378.1343994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.742162704467773,
                "transform": {
                    "location": {
                        "x": -2501.2822265625,
                        "y": 5106.6728515625,
                        "z": 377.88665771484375
                    },
                    "rotation": {
                        "roll": -0.011962898075580597,
                        "pitch": -0.7966595888137817,
                        "yaw": -87.21146392822266
                    }
                },
                "velocity": {
                    "x": 0.8091528415679932,
                    "y": -16.721128463745117,
                    "z": -0.2217036783695221
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.240270614624023,
                "transform": {
                    "location": {
                        "x": -2499.89990234375,
                        "y": 5083.55419921875,
                        "z": 377.5721435546875
                    },
                    "rotation": {
                        "roll": 0.019018249586224556,
                        "pitch": -0.8119728565216064,
                        "yaw": -85.88546752929688
                    }
                },
                "velocity": {
                    "x": 1.2440803050994873,
                    "y": -17.193593978881836,
                    "z": -0.24400806427001953
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.627544403076172,
                "transform": {
                    "location": {
                        "x": -2493.04931640625,
                        "y": 5018.15283203125,
                        "z": 376.7213134765625
                    },
                    "rotation": {
                        "roll": -0.027099570259451866,
                        "pitch": -0.6111174821853638,
                        "yaw": -82.01008605957031
                    }
                },
                "velocity": {
                    "x": 3.2426609992980957,
                    "y": -23.40264129638672,
                    "z": -0.24982421100139618
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.231143951416016,
                "transform": {
                    "location": {
                        "x": -2489.431396484375,
                        "y": 4993.51953125,
                        "z": 376.4953918457031
                    },
                    "rotation": {
                        "roll": 0.00257677654735744,
                        "pitch": -0.5399742126464844,
                        "yaw": -81.43780517578125
                    }
                },
                "velocity": {
                    "x": 3.602755308151245,
                    "y": -23.96076202392578,
                    "z": -0.22451165318489075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.384815216064453,
                "transform": {
                    "location": {
                        "x": -2503.117919921875,
                        "y": 5079.37353515625,
                        "z": 377.5080261230469
                    },
                    "rotation": {
                        "roll": -0.17645257711410522,
                        "pitch": -0.5955173373222351,
                        "yaw": -85.59030151367188
                    }
                },
                "velocity": {
                    "x": 1.6852973699569702,
                    "y": -22.319087982177734,
                    "z": -0.31307217478752136
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.055736541748047,
                "transform": {
                    "location": {
                        "x": -2500.9365234375,
                        "y": 5054.5810546875,
                        "z": 377.1806945800781
                    },
                    "rotation": {
                        "roll": -0.0950927659869194,
                        "pitch": -0.6594274044036865,
                        "yaw": -84.14646911621094
                    }
                },
                "velocity": {
                    "x": 2.3036575317382812,
                    "y": -22.938446044921875,
                    "z": -0.29647761583328247
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.775083541870117,
                "transform": {
                    "location": {
                        "x": -2498.25,
                        "y": 5030.81591796875,
                        "z": 376.91522216796875
                    },
                    "rotation": {
                        "roll": -0.045990023761987686,
                        "pitch": -0.6480961441993713,
                        "yaw": -82.74566650390625
                    }
                },
                "velocity": {
                    "x": 2.9554076194763184,
                    "y": -23.5889835357666,
                    "z": -0.28295475244522095
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 24.400714874267578,
                "transform": {
                    "location": {
                        "x": -2494.99658203125,
                        "y": 5006.59375,
                        "z": 376.6127624511719
                    },
                    "rotation": {
                        "roll": -0.018463164567947388,
                        "pitch": -0.5393322110176086,
                        "yaw": -81.13976287841797
                    }
                },
                "velocity": {
                    "x": 3.5866615772247314,
                    "y": -24.134559631347656,
                    "z": -0.2319037765264511
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.7626180052757263,
        "expert_target_speed": 14.593693407582055,
        "target_point": [
            20.411126790739367,
            -1.3532005528311783
        ],
        "target_point_next": [
            72.05112594824924,
            -0.561497726642278
        ]
    },
    "385": {
        "acceleration": [
            -3.056354522705078,
            3.0955886840820312,
            0.0552096962928772
        ],
        "angular_velocity": [
            0.6990804076194763,
            1.0763322114944458,
            -8.813435554504395
        ],
        "forward_vector": [
            0.16422495245933533,
            -0.9863088726997375,
            -0.01500371377915144
        ],
        "right_vector": [
            0.9863240718841553,
            0.16440477967262268,
            -0.011654956266283989
        ],
        "location": [
            -2493.940185546875,
            5052.58740234375,
            377.1417541503906
        ],
        "rotation": [
            0.667870044708252,
            -0.8596817255020142,
            -80.54671478271484
        ],
        "velocity": [
            2.8244526386260986,
            -16.529766082763672,
            -0.21410512924194336
        ],
        "speed": 16.769338074555186,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.78040885925293,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2492.603759765625,
                5041.89111328125,
                376.9983215332031
            ],
            "velocity": [
                1.0647581815719604,
                -9.189790725708008,
                -0.1152825579047203
            ],
            "speed_kmh": 33.307151290954735,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02099609375,
                        "y": 5217.50341796875,
                        "z": 378.7462463378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1530713587999344,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04638671875,
                        "y": 5149.7119140625,
                        "z": 378.33941650390625
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.049072265625,
                        "y": 5174.0068359375,
                        "z": 378.49139404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28875988721847534,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03564453125,
                        "y": 5195.0068359375,
                        "z": 378.57373046875
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.471923828125,
                        "y": 5141.341796875,
                        "z": 378.27166748046875
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.305908203125,
                        "y": 4934.5849609375,
                        "z": 375.7610778808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.8779296875,
                        "y": 4949.42431640625,
                        "z": 375.9731140136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.714111328125,
                        "y": 4964.18603515625,
                        "z": 376.17034912109375
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.81640625,
                        "y": 4978.970703125,
                        "z": 376.34197998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6236782073974609,
                        "yaw": -81.52037048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.692450046539307,
                "transform": {
                    "location": {
                        "x": -2485.881591796875,
                        "y": 4992.8193359375,
                        "z": 376.4697265625
                    },
                    "rotation": {
                        "roll": 0.000471947219921276,
                        "pitch": -0.5764474272727966,
                        "yaw": -81.55615234375
                    }
                },
                "velocity": {
                    "x": 0.9849919080734253,
                    "y": -6.619263172149658,
                    "z": -0.0635325238108635
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.616698265075684,
                "transform": {
                    "location": {
                        "x": -2490.4228515625,
                        "y": 5024.2646484375,
                        "z": 376.7987365722656
                    },
                    "rotation": {
                        "roll": 0.005721601657569408,
                        "pitch": -0.6409927010536194,
                        "yaw": -82.44532012939453
                    }
                },
                "velocity": {
                    "x": 1.2748467922210693,
                    "y": -9.53121280670166,
                    "z": -0.10782819241285324
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.251986503601074,
                "transform": {
                    "location": {
                        "x": -2492.603759765625,
                        "y": 5041.89111328125,
                        "z": 376.9983215332031
                    },
                    "rotation": {
                        "roll": -0.005523692350834608,
                        "pitch": -0.7263837456703186,
                        "yaw": -83.53131103515625
                    }
                },
                "velocity": {
                    "x": 1.0647581815719604,
                    "y": -9.189790725708008,
                    "z": -0.1152825579047203
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.701168060302734,
                "transform": {
                    "location": {
                        "x": -2495.5224609375,
                        "y": 5071.14013671875,
                        "z": 377.3865661621094
                    },
                    "rotation": {
                        "roll": -0.0026549503672868013,
                        "pitch": -0.7834431529045105,
                        "yaw": -85.20111083984375
                    }
                },
                "velocity": {
                    "x": 0.821387767791748,
                    "y": -9.665432929992676,
                    "z": -0.13186106085777283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.974740028381348,
                "transform": {
                    "location": {
                        "x": -2496.98876953125,
                        "y": 5090.88427734375,
                        "z": 377.6662292480469
                    },
                    "rotation": {
                        "roll": -0.03533939644694328,
                        "pitch": -0.7933332324028015,
                        "yaw": -86.3453369140625
                    }
                },
                "velocity": {
                    "x": 0.5861873626708984,
                    "y": -8.95461654663086,
                    "z": -0.1311340034008026
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.49959659576416,
                "transform": {
                    "location": {
                        "x": -2498.099365234375,
                        "y": 5111.2685546875,
                        "z": 377.9606628417969
                    },
                    "rotation": {
                        "roll": -0.007995621301233768,
                        "pitch": -0.9725642204284668,
                        "yaw": -87.53166961669922
                    }
                },
                "velocity": {
                    "x": 0.3671714961528778,
                    "y": -8.490983009338379,
                    "z": -0.10743720829486847
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.71337890625,
                        "y": 5128.55029296875,
                        "z": 378.15191650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.745361328125,
                        "y": 5129.6708984375,
                        "z": 378.1652526855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.03857421875,
                        "y": 5122.5244140625,
                        "z": 378.0894470214844
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.913955688476562,
                "transform": {
                    "location": {
                        "x": -2501.07177734375,
                        "y": 5102.4873046875,
                        "z": 377.8298645019531
                    },
                    "rotation": {
                        "roll": -0.011566229164600372,
                        "pitch": -0.7871997356414795,
                        "yaw": -86.9709243774414
                    }
                },
                "velocity": {
                    "x": 0.8910041451454163,
                    "y": -16.88882827758789,
                    "z": -0.23559066653251648
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.780582427978516,
                "transform": {
                    "location": {
                        "x": -2499.576904296875,
                        "y": 5079.18798828125,
                        "z": 377.5109558105469
                    },
                    "rotation": {
                        "roll": 0.01886049471795559,
                        "pitch": -0.8449012041091919,
                        "yaw": -85.6430892944336
                    }
                },
                "velocity": {
                    "x": 1.3584721088409424,
                    "y": -17.726877212524414,
                    "z": -0.24788816273212433
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.64115333557129,
                "transform": {
                    "location": {
                        "x": -2492.223876953125,
                        "y": 5012.30224609375,
                        "z": 376.6603088378906
                    },
                    "rotation": {
                        "roll": -0.024475079029798508,
                        "pitch": -0.5749174952507019,
                        "yaw": -81.68419647216797
                    }
                },
                "velocity": {
                    "x": 3.373380661010742,
                    "y": -23.398021697998047,
                    "z": -0.23883800208568573
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.23322296142578,
                "transform": {
                    "location": {
                        "x": -2488.53125,
                        "y": 4987.52880859375,
                        "z": 376.4383544921875
                    },
                    "rotation": {
                        "roll": -0.002105718245729804,
                        "pitch": -0.5564213395118713,
                        "yaw": -81.4775390625
                    }
                },
                "velocity": {
                    "x": 3.592421293258667,
                    "y": -23.96433448791504,
                    "z": -0.2329130917787552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.60506248474121,
                "transform": {
                    "location": {
                        "x": -2502.679443359375,
                        "y": 5073.765625,
                        "z": 377.4305114746094
                    },
                    "rotation": {
                        "roll": -0.1856689602136612,
                        "pitch": -0.6409585475921631,
                        "yaw": -85.25927734375
                    }
                },
                "velocity": {
                    "x": 1.828108787536621,
                    "y": -22.52888298034668,
                    "z": -0.31035909056663513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.293325424194336,
                "transform": {
                    "location": {
                        "x": -2500.340087890625,
                        "y": 5048.81396484375,
                        "z": 377.1071472167969
                    },
                    "rotation": {
                        "roll": -0.09951785206794739,
                        "pitch": -0.6650076508522034,
                        "yaw": -83.80604553222656
                    }
                },
                "velocity": {
                    "x": 2.4612834453582764,
                    "y": -23.16105079650879,
                    "z": -0.2946273982524872
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.86833953857422,
                "transform": {
                    "location": {
                        "x": -2497.494384765625,
                        "y": 5024.9052734375,
                        "z": 376.8461608886719
                    },
                    "rotation": {
                        "roll": -0.0436096116900444,
                        "pitch": -0.6301600337028503,
                        "yaw": -82.43000030517578
                    }
                },
                "velocity": {
                    "x": 3.099891185760498,
                    "y": -23.66464614868164,
                    "z": -0.26987937092781067
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 24.394441604614258,
                "transform": {
                    "location": {
                        "x": -2494.088134765625,
                        "y": 5000.56201171875,
                        "z": 376.5558166503906
                    },
                    "rotation": {
                        "roll": -0.016906723380088806,
                        "pitch": -0.5303027033805847,
                        "yaw": -80.9938735961914
                    }
                },
                "velocity": {
                    "x": 3.6806249618530273,
                    "y": -24.114126205444336,
                    "z": -0.22503562271595
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.5043120980262756,
        "expert_target_speed": 13.220383190288764,
        "target_point": [
            16.175351728761083,
            -0.7157355320375058
        ],
        "target_point_next": [
            67.75351232173867,
            1.9318399999594256
        ]
    },
    "390": {
        "acceleration": [
            -2.8681087493896484,
            2.1297073364257812,
            0.0378379225730896
        ],
        "angular_velocity": [
            0.02037300541996956,
            0.4968055188655853,
            -8.847500801086426
        ],
        "forward_vector": [
            0.1257147639989853,
            -0.9919241666793823,
            -0.016801519319415092
        ],
        "right_vector": [
            0.9919237494468689,
            0.1259658932685852,
            -0.014828883111476898
        ],
        "location": [
            -2493.323974609375,
            5048.53271484375,
            377.0900573730469
        ],
        "rotation": [
            0.8497835397720337,
            -0.9627014398574829,
            -82.77693939208984
        ],
        "velocity": [
            2.093472957611084,
            -16.00152015686035,
            -0.20501956343650818
        ],
        "speed": 16.13788326747523,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.999177932739258,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2492.3349609375,
                5039.5888671875,
                376.9690246582031
            ],
            "velocity": [
                1.0911754369735718,
                -9.227104187011719,
                -0.11605403572320938
            ],
            "speed_kmh": 33.45164942579887,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0224609375,
                        "y": 5215.0068359375,
                        "z": 378.6526184082031
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.032958984375,
                        "y": 5147.43115234375,
                        "z": 378.32122802734375
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.051025390625,
                        "y": 5171.5068359375,
                        "z": 378.47967529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28875988721847534,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.037353515625,
                        "y": 5192.5068359375,
                        "z": 378.56463623046875
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.404296875,
                        "y": 5137.0859375,
                        "z": 378.2347106933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3722,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.070556640625,
                        "y": 4932.095703125,
                        "z": 375.72412109375
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.59765625,
                        "y": 4946.9404296875,
                        "z": 375.9379577636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.385986328125,
                        "y": 4961.7080078125,
                        "z": 376.1391296386719
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.449462890625,
                        "y": 4976.498046875,
                        "z": 376.315185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.113377571105957,
                "transform": {
                    "location": {
                        "x": -2485.620361328125,
                        "y": 4991.068359375,
                        "z": 376.45233154296875
                    },
                    "rotation": {
                        "roll": 0.0008874742197804153,
                        "pitch": -0.4701833724975586,
                        "yaw": -81.5772705078125
                    }
                },
                "velocity": {
                    "x": 1.1972709894180298,
                    "y": -8.024195671081543,
                    "z": -0.07562392950057983
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.616377830505371,
                "transform": {
                    "location": {
                        "x": -2490.10400390625,
                        "y": 5021.8818359375,
                        "z": 376.77197265625
                    },
                    "rotation": {
                        "roll": 0.0029815302696079016,
                        "pitch": -0.6285412907600403,
                        "yaw": -82.39461517333984
                    }
                },
                "velocity": {
                    "x": 1.2754802703857422,
                    "y": -9.530843734741211,
                    "z": -0.10439304262399673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.29212474822998,
                "transform": {
                    "location": {
                        "x": -2492.3349609375,
                        "y": 5039.5888671875,
                        "z": 376.9690246582031
                    },
                    "rotation": {
                        "roll": -0.0054626925848424435,
                        "pitch": -0.7239658832550049,
                        "yaw": -83.30162811279297
                    }
                },
                "velocity": {
                    "x": 1.0911754369735718,
                    "y": -9.227104187011719,
                    "z": -0.11605403572320938
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.674710273742676,
                "transform": {
                    "location": {
                        "x": -2495.315185546875,
                        "y": 5068.7275390625,
                        "z": 377.3537292480469
                    },
                    "rotation": {
                        "roll": -0.0015259115025401115,
                        "pitch": -0.7705955505371094,
                        "yaw": -85.02948760986328
                    }
                },
                "velocity": {
                    "x": 0.843919575214386,
                    "y": -9.636943817138672,
                    "z": -0.1308661252260208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.941853523254395,
                "transform": {
                    "location": {
                        "x": -2496.829345703125,
                        "y": 5088.47509765625,
                        "z": 377.63031005859375
                    },
                    "rotation": {
                        "roll": -0.030853234231472015,
                        "pitch": -0.5412241816520691,
                        "yaw": -86.18533325195312
                    }
                },
                "velocity": {
                    "x": 0.6659698486328125,
                    "y": -9.91849136352539,
                    "z": -0.1430317759513855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.083755493164062,
                "transform": {
                    "location": {
                        "x": -2498.0009765625,
                        "y": 5109.08837890625,
                        "z": 377.9301452636719
                    },
                    "rotation": {
                        "roll": -0.020080571994185448,
                        "pitch": -0.6546667814254761,
                        "yaw": -87.35131072998047
                    }
                },
                "velocity": {
                    "x": 0.4269033968448639,
                    "y": -9.072944641113281,
                    "z": -0.11853986233472824
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.65576171875,
                        "y": 5126.388671875,
                        "z": 378.1300048828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.69091796875,
                        "y": 5127.587890625,
                        "z": 378.1441955566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2501.89013671875,
                        "y": 5118.2412109375,
                        "z": 378.0409240722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 17.50992202758789,
                "transform": {
                    "location": {
                        "x": -2500.837646484375,
                        "y": 5098.1904296875,
                        "z": 377.76898193359375
                    },
                    "rotation": {
                        "roll": -0.013641358353197575,
                        "pitch": -0.7860932350158691,
                        "yaw": -86.7236328125
                    }
                },
                "velocity": {
                    "x": 0.9974921941757202,
                    "y": -17.479694366455078,
                    "z": -0.2502899765968323
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 18.34716796875,
                "transform": {
                    "location": {
                        "x": -2499.22412109375,
                        "y": 5074.68310546875,
                        "z": 377.4483642578125
                    },
                    "rotation": {
                        "roll": 0.019683143123984337,
                        "pitch": -0.8450309634208679,
                        "yaw": -85.3759994506836
                    }
                },
                "velocity": {
                    "x": 1.4849311113357544,
                    "y": -18.28524398803711,
                    "z": -0.2518175542354584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.649560928344727,
                "transform": {
                    "location": {
                        "x": -2491.36865234375,
                        "y": 5006.453125,
                        "z": 376.60260009765625
                    },
                    "rotation": {
                        "roll": -0.0187988243997097,
                        "pitch": -0.5407665371894836,
                        "yaw": -81.48052215576172
                    }
                },
                "velocity": {
                    "x": 3.4673943519592285,
                    "y": -23.392927169799805,
                    "z": -0.2232874631881714
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.23247528076172,
                "transform": {
                    "location": {
                        "x": -2487.635498046875,
                        "y": 4981.53759765625,
                        "z": 376.3785705566406
                    },
                    "rotation": {
                        "roll": -0.004821781534701586,
                        "pitch": -0.5892881751060486,
                        "yaw": -81.54070281982422
                    }
                },
                "velocity": {
                    "x": 3.5688726902008057,
                    "y": -23.966922760009766,
                    "z": -0.2501290440559387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.77857208251953,
                "transform": {
                    "location": {
                        "x": -2502.204833984375,
                        "y": 5068.11083984375,
                        "z": 377.3535461425781
                    },
                    "rotation": {
                        "roll": -0.19503776729106903,
                        "pitch": -0.6665581464767456,
                        "yaw": -84.90756225585938
                    }
                },
                "velocity": {
                    "x": 1.975344181060791,
                    "y": -22.690690994262695,
                    "z": -0.30646541714668274
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.358055114746094,
                "transform": {
                    "location": {
                        "x": -2499.705322265625,
                        "y": 5043.01416015625,
                        "z": 377.0339050292969
                    },
                    "rotation": {
                        "roll": -0.1064758375287056,
                        "pitch": -0.6927792429924011,
                        "yaw": -83.44309997558594
                    }
                },
                "velocity": {
                    "x": 2.6097140312194824,
                    "y": -23.209972381591797,
                    "z": -0.2921358346939087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.8575439453125,
                "transform": {
                    "location": {
                        "x": -2496.70361328125,
                        "y": 5018.9912109375,
                        "z": 376.7806091308594
                    },
                    "rotation": {
                        "roll": -0.0467529371380806,
                        "pitch": -0.608644962310791,
                        "yaw": -82.08390045166016
                    }
                },
                "velocity": {
                    "x": 3.2432472705841064,
                    "y": -23.63468360900879,
                    "z": -0.25584840774536133
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 24.3819522857666,
                "transform": {
                    "location": {
                        "x": -2493.1611328125,
                        "y": 4994.53662109375,
                        "z": 376.49920654296875
                    },
                    "rotation": {
                        "roll": -0.011108399368822575,
                        "pitch": -0.5352135896682739,
                        "yaw": -81.02532196044922
                    }
                },
                "velocity": {
                    "x": 3.72489333152771,
                    "y": -24.09465789794922,
                    "z": -0.22844839096069336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8139647841453552,
        "expert_target_speed": 11.289088460412719,
        "target_point": [
            12.090964187287488,
            -0.18724066983043297
        ],
        "target_point_next": [
            63.52702414808346,
            4.465504977850702
        ]
    },
    "395": {
        "acceleration": [
            -2.838864326477051,
            4.892921447753906,
            0.06336003541946411
        ],
        "angular_velocity": [
            0.7327030897140503,
            0.1254744678735733,
            -8.59404182434082
        ],
        "forward_vector": [
            0.08784399181604385,
            -0.9959486722946167,
            -0.019225722178816795
        ],
        "right_vector": [
            0.9959791898727417,
            0.08815441280603409,
            -0.01594095304608345
        ],
        "location": [
            -2492.8876953125,
            5044.65478515625,
            377.0412902832031
        ],
        "rotation": [
            0.9135568737983704,
            -1.1016206741333008,
            -84.95948028564453
        ],
        "velocity": [
            1.3688771724700928,
            -14.983525276184082,
            -0.18906119465827942
        ],
        "speed": 15.04592484413494,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.414409160614014,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2492.062744140625,
                5037.287109375,
                376.93994140625
            ],
            "velocity": [
                1.0883651971817017,
                -9.186396598815918,
                -0.1145608127117157
            ],
            "speed_kmh": 33.30487335316934,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.024169921875,
                        "y": 5212.5068359375,
                        "z": 378.6349792480469
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.012451171875,
                        "y": 5145.04296875,
                        "z": 378.30181884765625
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.052490234375,
                        "y": 5169.0068359375,
                        "z": 378.4664001464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3253765404224396,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03857421875,
                        "y": 5190.0068359375,
                        "z": 378.555419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.31689453125,
                        "y": 5132.75634765625,
                        "z": 378.1944580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.321533203125,
                        "y": 4944.455078125,
                        "z": 375.9028015136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.068115234375,
                        "y": 4959.2275390625,
                        "z": 376.1069030761719
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.086669921875,
                        "y": 4974.0244140625,
                        "z": 376.2873840332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.658997118473053,
                        "yaw": -81.8254623413086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.745711326599121,
                "transform": {
                    "location": {
                        "x": -2485.2861328125,
                        "y": 4988.82470703125,
                        "z": 376.430419921875
                    },
                    "rotation": {
                        "roll": 0.0002466947480570525,
                        "pitch": -0.44741836190223694,
                        "yaw": -81.55876159667969
                    }
                },
                "velocity": {
                    "x": 1.4333733320236206,
                    "y": -9.63926887512207,
                    "z": -0.09394405037164688
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.616388320922852,
                "transform": {
                    "location": {
                        "x": -2489.779296875,
                        "y": 5019.5,
                        "z": 376.7459411621094
                    },
                    "rotation": {
                        "roll": 0.008730284869670868,
                        "pitch": -0.6149014234542847,
                        "yaw": -82.18685150146484
                    }
                },
                "velocity": {
                    "x": 1.3230830430984497,
                    "y": -9.524374961853027,
                    "z": -0.10327938944101334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.251354217529297,
                "transform": {
                    "location": {
                        "x": -2492.062744140625,
                        "y": 5037.287109375,
                        "z": 376.93994140625
                    },
                    "rotation": {
                        "roll": -0.00039676923188380897,
                        "pitch": -0.7197242975234985,
                        "yaw": -83.23876190185547
                    }
                },
                "velocity": {
                    "x": 1.0883651971817017,
                    "y": -9.186396598815918,
                    "z": -0.1145608127117157
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.70077133178711,
                "transform": {
                    "location": {
                        "x": -2495.10302734375,
                        "y": 5066.31494140625,
                        "z": 377.3211669921875
                    },
                    "rotation": {
                        "roll": -0.0012206604005768895,
                        "pitch": -0.7724328637123108,
                        "yaw": -84.91539764404297
                    }
                },
                "velocity": {
                    "x": 0.8696293234825134,
                    "y": -9.660836219787598,
                    "z": -0.1302226185798645
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.540244102478027,
                "transform": {
                    "location": {
                        "x": -2496.666259765625,
                        "y": 5086.06298828125,
                        "z": 377.59674072265625
                    },
                    "rotation": {
                        "roll": -0.030578602105379105,
                        "pitch": -0.8265348076820374,
                        "yaw": -86.10842895507812
                    }
                },
                "velocity": {
                    "x": 0.6629073023796082,
                    "y": -9.516200065612793,
                    "z": -0.13689576089382172
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.993706703186035,
                "transform": {
                    "location": {
                        "x": -2497.886962890625,
                        "y": 5106.6826171875,
                        "z": 377.8971862792969
                    },
                    "rotation": {
                        "roll": -0.008514408953487873,
                        "pitch": -0.5108981132507324,
                        "yaw": -87.26007080078125
                    }
                },
                "velocity": {
                    "x": 0.4813854396343231,
                    "y": -9.981225967407227,
                    "z": -0.13251537084579468
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.58251953125,
                        "y": 5124.0107421875,
                        "z": 378.1041564941406
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.633544921875,
                        "y": 5125.50439453125,
                        "z": 378.122802734375
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.737133979797363,
                "transform": {
                    "location": {
                        "x": -2501.73193359375,
                        "y": 5113.97265625,
                        "z": 377.9944763183594
                    },
                    "rotation": {
                        "roll": -0.02120976336300373,
                        "pitch": -0.995540976524353,
                        "yaw": -87.74919128417969
                    }
                },
                "velocity": {
                    "x": 0.6267508268356323,
                    "y": -15.723658561706543,
                    "z": -0.17642132937908173
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.149242401123047,
                "transform": {
                    "location": {
                        "x": -2500.5751953125,
                        "y": 5093.73779296875,
                        "z": 377.7043762207031
                    },
                    "rotation": {
                        "roll": -0.014831563457846642,
                        "pitch": -0.7972947955131531,
                        "yaw": -86.44744873046875
                    }
                },
                "velocity": {
                    "x": 1.1174604892730713,
                    "y": -18.112865447998047,
                    "z": -0.26532983779907227
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 18.90833854675293,
                "transform": {
                    "location": {
                        "x": -2498.839111328125,
                        "y": 5070.0400390625,
                        "z": 377.384765625
                    },
                    "rotation": {
                        "roll": 0.018876561895012856,
                        "pitch": -0.8347173929214478,
                        "yaw": -85.11559295654297
                    }
                },
                "velocity": {
                    "x": 1.6141986846923828,
                    "y": -18.837575912475586,
                    "z": -0.2555670142173767
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.648494720458984,
                "transform": {
                    "location": {
                        "x": -2490.49609375,
                        "y": 5000.60546875,
                        "z": 376.5475158691406
                    },
                    "rotation": {
                        "roll": -0.012023946270346642,
                        "pitch": -0.5323790907859802,
                        "yaw": -81.42536926269531
                    }
                },
                "velocity": {
                    "x": 3.509921073913574,
                    "y": -23.385526657104492,
                    "z": -0.22111500799655914
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.23316192626953,
                "transform": {
                    "location": {
                        "x": -2486.75048828125,
                        "y": 4975.54541015625,
                        "z": 376.3141784667969
                    },
                    "rotation": {
                        "roll": -0.012573209591209888,
                        "pitch": -0.6270113587379456,
                        "yaw": -81.71157836914062
                    }
                },
                "velocity": {
                    "x": 3.4953739643096924,
                    "y": -23.978261947631836,
                    "z": -0.2673572897911072
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.848806381225586,
                "transform": {
                    "location": {
                        "x": -2501.6943359375,
                        "y": 5062.42822265625,
                        "z": 377.2778015136719
                    },
                    "rotation": {
                        "roll": -0.1961364895105362,
                        "pitch": -0.6921371817588806,
                        "yaw": -84.57917785644531
                    }
                },
                "velocity": {
                    "x": 2.1128439903259277,
                    "y": -22.748903274536133,
                    "z": -0.30207836627960205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.32635498046875,
                "transform": {
                    "location": {
                        "x": -2499.034912109375,
                        "y": 5037.21728515625,
                        "z": 376.96087646484375
                    },
                    "rotation": {
                        "roll": -0.10409548878669739,
                        "pitch": -0.7135293483734131,
                        "yaw": -83.09539031982422
                    }
                },
                "velocity": {
                    "x": 2.7469372749328613,
                    "y": -23.16222381591797,
                    "z": -0.290848970413208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.83352279663086,
                "transform": {
                    "location": {
                        "x": -2495.878173828125,
                        "y": 5013.087890625,
                        "z": 376.718505859375
                    },
                    "rotation": {
                        "roll": -0.0463562048971653,
                        "pitch": -0.5803543329238892,
                        "yaw": -81.73509216308594
                    }
                },
                "velocity": {
                    "x": 3.377565622329712,
                    "y": -23.591760635375977,
                    "z": -0.24016764760017395
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 24.377721786499023,
                "transform": {
                    "location": {
                        "x": -2492.2275390625,
                        "y": 4988.51416015625,
                        "z": 376.44195556640625
                    },
                    "rotation": {
                        "roll": -0.0036010844632983208,
                        "pitch": -0.5415042042732239,
                        "yaw": -81.20164489746094
                    }
                },
                "velocity": {
                    "x": 3.72369647026062,
                    "y": -24.090524673461914,
                    "z": -0.2324419766664505
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9988575577735901,
        "expert_target_speed": 8.500753328540487,
        "target_point": [
            8.188059195196859,
            0.17948068810464535
        ],
        "target_point_next": [
            59.40961547748821,
            6.787693636600922
        ]
    },
    "400": {
        "acceleration": [
            -2.064967155456543,
            8.065910339355469,
            0.0955316424369812
        ],
        "angular_velocity": [
            1.4012466669082642,
            -0.5047819018363953,
            -6.130260944366455
        ],
        "forward_vector": [
            0.05550122261047363,
            -0.9982047080993652,
            -0.022517327219247818
        ],
        "right_vector": [
            0.9983335137367249,
            0.05583715811371803,
            -0.014574550092220306
        ],
        "location": [
            -2492.6162109375,
            5041.06640625,
            376.99664306640625
        ],
        "rotation": [
            0.8353016376495361,
            -1.2902568578720093,
            -86.81757354736328
        ],
        "velocity": [
            0.7887840270996094,
            -13.491137504577637,
            -0.17038927972316742
        ],
        "speed": 13.51417668261107,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.137975692749023,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2491.78662109375,
                5034.9853515625,
                376.91119384765625
            ],
            "velocity": [
                1.1332286596298218,
                -9.221245765686035,
                -0.11404462903738022
            ],
            "speed_kmh": 33.44874415419917,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.025634765625,
                        "y": 5210.0068359375,
                        "z": 378.6232604980469
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.985595703125,
                        "y": 5142.572265625,
                        "z": 378.28143310546875
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05419921875,
                        "y": 5166.5068359375,
                        "z": 378.4530334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3253765404224396,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04052734375,
                        "y": 5187.5068359375,
                        "z": 378.5460510253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.22119140625,
                        "y": 5128.8251953125,
                        "z": 378.1556701660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.0556640625,
                        "y": 4941.9697265625,
                        "z": 375.8675231933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.754150390625,
                        "y": 4956.74755859375,
                        "z": 376.0742492675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.728759765625,
                        "y": 4971.55029296875,
                        "z": 376.25921630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.738618850708008,
                "transform": {
                    "location": {
                        "x": -2484.9228515625,
                        "y": 4986.38330078125,
                        "z": 376.4071044921875
                    },
                    "rotation": {
                        "roll": 0.0001480027858633548,
                        "pitch": -0.5353091955184937,
                        "yaw": -81.51332092285156
                    }
                },
                "velocity": {
                    "x": 1.4346400499343872,
                    "y": -9.6318998336792,
                    "z": -0.09501949697732925
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.6166353225708,
                "transform": {
                    "location": {
                        "x": -2489.448974609375,
                        "y": 5017.119140625,
                        "z": 376.7204284667969
                    },
                    "rotation": {
                        "roll": 0.00311633781529963,
                        "pitch": -0.6000935435295105,
                        "yaw": -82.10758972167969
                    }
                },
                "velocity": {
                    "x": 1.3250350952148438,
                    "y": -9.52437686920166,
                    "z": -0.10109016299247742
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.2913179397583,
                "transform": {
                    "location": {
                        "x": -2491.78662109375,
                        "y": 5034.9853515625,
                        "z": 376.91119384765625
                    },
                    "rotation": {
                        "roll": -0.0059814052656292915,
                        "pitch": -0.7062346935272217,
                        "yaw": -83.10810852050781
                    }
                },
                "velocity": {
                    "x": 1.1332286596298218,
                    "y": -9.221245765686035,
                    "z": -0.11404462903738022
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.67436408996582,
                "transform": {
                    "location": {
                        "x": -2494.8837890625,
                        "y": 5063.9033203125,
                        "z": 377.288818359375
                    },
                    "rotation": {
                        "roll": -0.0017090055625885725,
                        "pitch": -0.7619348764419556,
                        "yaw": -84.74108123779297
                    }
                },
                "velocity": {
                    "x": 0.8919320702552795,
                    "y": -9.632275581359863,
                    "z": -0.1305430829524994
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.467414855957031,
                "transform": {
                    "location": {
                        "x": -2496.508056640625,
                        "y": 5083.83056640625,
                        "z": 377.5658874511719
                    },
                    "rotation": {
                        "roll": -0.03378293290734291,
                        "pitch": -1.1264688968658447,
                        "yaw": -85.91983032226562
                    }
                },
                "velocity": {
                    "x": 0.6087116599082947,
                    "y": -8.44465160369873,
                    "z": -0.12016449868679047
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.263595581054688,
                "transform": {
                    "location": {
                        "x": -2497.7666015625,
                        "y": 5104.26416015625,
                        "z": 377.86749267578125
                    },
                    "rotation": {
                        "roll": -0.01943962648510933,
                        "pitch": -0.8651390075683594,
                        "yaw": -87.07080078125
                    }
                },
                "velocity": {
                    "x": 0.47742030024528503,
                    "y": -9.25041675567627,
                    "z": -0.12672077119350433
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.50732421875,
                        "y": 5121.56591796875,
                        "z": 378.0777587890625
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.568603515625,
                        "y": 5123.4208984375,
                        "z": 378.100341796875
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.729085922241211,
                "transform": {
                    "location": {
                        "x": -2501.54833984375,
                        "y": 5110.0439453125,
                        "z": 377.9478759765625
                    },
                    "rotation": {
                        "roll": -0.170684814453125,
                        "pitch": -0.9510149955749512,
                        "yaw": -86.7450180053711
                    }
                },
                "velocity": {
                    "x": 0.8475413918495178,
                    "y": -15.70502758026123,
                    "z": -0.19478057324886322
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.716955184936523,
                "transform": {
                    "location": {
                        "x": -2500.282958984375,
                        "y": 5089.13427734375,
                        "z": 377.6372985839844
                    },
                    "rotation": {
                        "roll": -0.01562500186264515,
                        "pitch": -0.7884770035743713,
                        "yaw": -86.18553161621094
                    }
                },
                "velocity": {
                    "x": 1.237450361251831,
                    "y": -18.674072265625,
                    "z": -0.26859810948371887
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 19.46100425720215,
                "transform": {
                    "location": {
                        "x": -2498.420654296875,
                        "y": 5065.25927734375,
                        "z": 377.32025146484375
                    },
                    "rotation": {
                        "roll": 0.021209655329585075,
                        "pitch": -0.8224435448646545,
                        "yaw": -84.84070587158203
                    }
                },
                "velocity": {
                    "x": 1.7528095245361328,
                    "y": -19.380170822143555,
                    "z": -0.25948745012283325
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.692224502563477,
                "transform": {
                    "location": {
                        "x": -2489.6171875,
                        "y": 4994.7578125,
                        "z": 376.49237060546875
                    },
                    "rotation": {
                        "roll": -0.004486079793423414,
                        "pitch": -0.5324336886405945,
                        "yaw": -81.43949890136719
                    }
                },
                "velocity": {
                    "x": 3.523329496383667,
                    "y": -23.427730560302734,
                    "z": -0.2214605063199997
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.961181640625,
                        "y": 4969.42529296875,
                        "z": 376.2401428222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6943296790122986,
                        "yaw": -82.17636108398438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.82533073425293,
                "transform": {
                    "location": {
                        "x": -2501.150146484375,
                        "y": 5056.74462890625,
                        "z": 377.2033386230469
                    },
                    "rotation": {
                        "roll": -0.19671621918678284,
                        "pitch": -0.7209810614585876,
                        "yaw": -84.24815368652344
                    }
                },
                "velocity": {
                    "x": 2.2411696910858154,
                    "y": -22.71312141418457,
                    "z": -0.2949722707271576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.29143714904785,
                "transform": {
                    "location": {
                        "x": -2498.33154296875,
                        "y": 5031.43359375,
                        "z": 376.8894348144531
                    },
                    "rotation": {
                        "roll": -0.1022338792681694,
                        "pitch": -0.6894802451133728,
                        "yaw": -82.7778549194336
                    }
                },
                "velocity": {
                    "x": 2.8754873275756836,
                    "y": -23.111557006835938,
                    "z": -0.280345618724823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.82429313659668,
                "transform": {
                    "location": {
                        "x": -2495.021240234375,
                        "y": 5007.19287109375,
                        "z": 376.6598815917969
                    },
                    "rotation": {
                        "roll": -0.03948974609375,
                        "pitch": -0.5481021404266357,
                        "yaw": -81.49308776855469
                    }
                },
                "velocity": {
                    "x": 3.482469081878662,
                    "y": -23.567306518554688,
                    "z": -0.22690610587596893
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 24.378185272216797,
                "transform": {
                    "location": {
                        "x": -2491.299072265625,
                        "y": 4982.4912109375,
                        "z": 376.3828125
                    },
                    "rotation": {
                        "roll": 0.0034874100238084793,
                        "pitch": -0.5685107707977295,
                        "yaw": -81.44744873046875
                    }
                },
                "velocity": {
                    "x": 3.6818759441375732,
                    "y": -24.0972900390625,
                    "z": -0.24558289349079132
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9996799826622009,
        "expert_target_speed": 4.6601666729206705,
        "target_point": [
            55.56039080323813,
            8.638481100362887
        ],
        "target_point_next": [
            85.39064278302797,
            18.72768497637529
        ]
    },
    "405": {
        "acceleration": [
            0.07318854331970215,
            7.504386901855469,
            0.09883463382720947
        ],
        "angular_velocity": [
            0.4389556050300598,
            -1.9718705415725708,
            2.6945855617523193
        ],
        "forward_vector": [
            0.048189569264650345,
            -0.9985004663467407,
            -0.02597409300506115
        ],
        "right_vector": [
            0.9987981915473938,
            0.048404086381196976,
            -0.00769392866641283
        ],
        "location": [
            -2492.445556640625,
            5037.94970703125,
            376.9581604003906
        ],
        "rotation": [
            0.44098275899887085,
            -1.4883732795715332,
            -87.2369384765625
        ],
        "velocity": [
            0.6263669729232788,
            -11.558367729187012,
            -0.14496517181396484
        ],
        "speed": 11.575327215585776,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 23.45049285888672,
        "front_vehicle_info": {
            "id": 3717,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -2489.112548828125,
                5014.73876953125,
                376.6954650878906
            ],
            "velocity": [
                1.369335412979126,
                -9.516972541809082,
                -0.09890181571245193
            ],
            "speed_kmh": 34.61576015567238,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.027587890625,
                        "y": 5207.5068359375,
                        "z": 378.6152648925781
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.954833984375,
                        "y": 5140.31591796875,
                        "z": 378.2623291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0556640625,
                        "y": 5164.0068359375,
                        "z": 378.4382019042969
                    },
                    "rotation": {
                        "roll": 1.3340479831924767e-08,
                        "pitch": -0.3619931638240814,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0419921875,
                        "y": 5185.0068359375,
                        "z": 378.53662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.11328125,
                        "y": 5124.8935546875,
                        "z": 378.1151428222656
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.90576171875,
                        "y": 5137.1064453125,
                        "z": 378.3624267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.794677734375,
                        "y": 4939.4833984375,
                        "z": 375.83221435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.44921875,
                        "y": 4954.26708984375,
                        "z": 376.0408020019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.494538307189941,
                "transform": {
                    "location": {
                        "x": -2482.41064453125,
                        "y": 4969.27490234375,
                        "z": 376.2315673828125
                    },
                    "rotation": {
                        "roll": 0.012081009335815907,
                        "pitch": -0.8947752118110657,
                        "yaw": -82.19161987304688
                    }
                },
                "velocity": {
                    "x": 1.1598896980285645,
                    "y": -8.414338111877441,
                    "z": -0.10366713255643845
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.290779113769531,
                "transform": {
                    "location": {
                        "x": -2484.57177734375,
                        "y": 4984.02880859375,
                        "z": 376.3840637207031
                    },
                    "rotation": {
                        "roll": 0.0006585598457604647,
                        "pitch": -0.5789473056793213,
                        "yaw": -81.53825378417969
                    }
                },
                "velocity": {
                    "x": 1.369330883026123,
                    "y": -9.188840866088867,
                    "z": -0.09331196546554565
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.61548900604248,
                "transform": {
                    "location": {
                        "x": -2489.112548828125,
                        "y": 5014.73876953125,
                        "z": 376.6954650878906
                    },
                    "rotation": {
                        "roll": 0.006791727151721716,
                        "pitch": -0.5888715386390686,
                        "yaw": -81.9008560180664
                    }
                },
                "velocity": {
                    "x": 1.369335412979126,
                    "y": -9.516972541809082,
                    "z": -0.09890181571245193
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.251214027404785,
                "transform": {
                    "location": {
                        "x": -2491.50341796875,
                        "y": 5032.685546875,
                        "z": 376.8829650878906
                    },
                    "rotation": {
                        "roll": -0.002746523590758443,
                        "pitch": -0.6927792429924011,
                        "yaw": -82.95793914794922
                    }
                },
                "velocity": {
                    "x": 1.136347770690918,
                    "y": -9.180487632751465,
                    "z": -0.1109754741191864
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.700488090515137,
                "transform": {
                    "location": {
                        "x": -2494.659423828125,
                        "y": 5061.49169921875,
                        "z": 377.2565612792969
                    },
                    "rotation": {
                        "roll": -0.0003662475210148841,
                        "pitch": -0.7576591968536377,
                        "yaw": -84.63085174560547
                    }
                },
                "velocity": {
                    "x": 0.9175848960876465,
                    "y": -9.656156539916992,
                    "z": -0.12709149718284607
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.896798133850098,
                "transform": {
                    "location": {
                        "x": -2496.353271484375,
                        "y": 5081.68994140625,
                        "z": 377.5345153808594
                    },
                    "rotation": {
                        "roll": -0.017944326624274254,
                        "pitch": -0.8628782629966736,
                        "yaw": -85.85021209716797
                    }
                },
                "velocity": {
                    "x": 0.6453338265419006,
                    "y": -8.87248420715332,
                    "z": -0.12480302900075912
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.38784122467041,
                "transform": {
                    "location": {
                        "x": -2497.653564453125,
                        "y": 5102.0888671875,
                        "z": 377.8388671875
                    },
                    "rotation": {
                        "roll": -0.010162390768527985,
                        "pitch": -1.0754952430725098,
                        "yaw": -86.98051452636719
                    }
                },
                "velocity": {
                    "x": 0.4433877170085907,
                    "y": -8.375272750854492,
                    "z": -0.11866935342550278
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.428466796875,
                        "y": 5119.36083984375,
                        "z": 378.0524597167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.50341796875,
                        "y": 5121.337890625,
                        "z": 378.0778503417969
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.752030372619629,
                "transform": {
                    "location": {
                        "x": -2501.3271484375,
                        "y": 5106.11279296875,
                        "z": 377.8945617675781
                    },
                    "rotation": {
                        "roll": -0.0892028659582138,
                        "pitch": -0.7284532785415649,
                        "yaw": -86.292236328125
                    }
                },
                "velocity": {
                    "x": 0.9472842216491699,
                    "y": -15.722087860107422,
                    "z": -0.21222350001335144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 19.226476669311523,
                "transform": {
                    "location": {
                        "x": -2499.960205078125,
                        "y": 5084.39990234375,
                        "z": 377.5693359375
                    },
                    "rotation": {
                        "roll": -0.016784727573394775,
                        "pitch": -0.7755405902862549,
                        "yaw": -85.90757751464844
                    }
                },
                "velocity": {
                    "x": 1.3622045516967773,
                    "y": -19.176240921020508,
                    "z": -0.2713302671909332
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 20.004880905151367,
                "transform": {
                    "location": {
                        "x": -2497.96630859375,
                        "y": 5060.3447265625,
                        "z": 377.2548828125
                    },
                    "rotation": {
                        "roll": 0.022559450939297676,
                        "pitch": -0.8086533546447754,
                        "yaw": -84.54843139648438
                    }
                },
                "velocity": {
                    "x": 1.9003404378890991,
                    "y": -19.912687301635742,
                    "z": -0.2623697817325592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.980575561523438,
                "transform": {
                    "location": {
                        "x": -2488.72998046875,
                        "y": 4988.8544921875,
                        "z": 376.4363708496094
                    },
                    "rotation": {
                        "roll": 0.0009553862037137151,
                        "pitch": -0.5258494019508362,
                        "yaw": -81.47993469238281
                    }
                },
                "velocity": {
                    "x": 3.555950164794922,
                    "y": -23.71435546875,
                    "z": -0.2291741520166397
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.116455078125,
                        "y": 4963.2333984375,
                        "z": 376.16436767578125
                    },
                    "rotation": {
                        "roll": 8.004776219650012e-08,
                        "pitch": -0.7296690940856934,
                        "yaw": -82.52728271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.78321075439453,
                "transform": {
                    "location": {
                        "x": -2500.5751953125,
                        "y": 5051.07373046875,
                        "z": 377.1305236816406
                    },
                    "rotation": {
                        "roll": -0.19390861690044403,
                        "pitch": -0.7298261523246765,
                        "yaw": -83.93144989013672
                    }
                },
                "velocity": {
                    "x": 2.363919258117676,
                    "y": -22.65839385986328,
                    "z": -0.28932902216911316
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.281835556030273,
                "transform": {
                    "location": {
                        "x": -2497.595458984375,
                        "y": 5025.6591796875,
                        "z": 376.8215026855469
                    },
                    "rotation": {
                        "roll": -0.0990295261144638,
                        "pitch": -0.6533553600311279,
                        "yaw": -82.45274353027344
                    }
                },
                "velocity": {
                    "x": 3.005261182785034,
                    "y": -23.085512161254883,
                    "z": -0.2672160863876343
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.824888229370117,
                "transform": {
                    "location": {
                        "x": -2494.14306640625,
                        "y": 5001.30224609375,
                        "z": 376.6039733886719
                    },
                    "rotation": {
                        "roll": -0.024810791015625,
                        "pitch": -0.5305758714675903,
                        "yaw": -81.3972396850586
                    }
                },
                "velocity": {
                    "x": 3.540410041809082,
                    "y": -23.559328079223633,
                    "z": -0.2211485207080841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 24.38005256652832,
                "transform": {
                    "location": {
                        "x": -2490.385498046875,
                        "y": 4976.4658203125,
                        "z": 376.319091796875
                    },
                    "rotation": {
                        "roll": 0.01080889068543911,
                        "pitch": -0.6154478192329407,
                        "yaw": -81.72796630859375
                    }
                },
                "velocity": {
                    "x": 3.604905605316162,
                    "y": -24.110612869262695,
                    "z": -0.26452553272247314
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.000183343887329,
        "expert_target_speed": 0.0,
        "target_point": [
            52.37436875740894,
            9.024727784380895
        ],
        "target_point_next": [
            82.12997148740038,
            19.332010365373108
        ]
    },
    "410": {
        "acceleration": [
            -0.041795969009399414,
            12.004833221435547,
            0.16319751739501953
        ],
        "angular_velocity": [
            1.6354012489318848,
            -0.9947669506072998,
            4.330724239349365
        ],
        "forward_vector": [
            0.06618816405534744,
            -0.9974238276481628,
            -0.027656126767396927
        ],
        "right_vector": [
            0.9978033304214478,
            0.06623932719230652,
            -0.0009370538755320013
        ],
        "location": [
            -2492.2822265625,
            5035.29443359375,
            376.9255065917969
        ],
        "rotation": [
            0.05370978266000748,
            -1.5847814083099365,
            -86.2034683227539
        ],
        "velocity": [
            0.6606871485710144,
            -9.380087852478027,
            -0.11559557914733887
        ],
        "speed": 9.403326838331886,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 23.203784942626953,
        "front_vehicle_info": {
            "id": 3717,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -2488.770263671875,
                5012.359375,
                376.67083740234375
            ],
            "velocity": [
                1.371338963508606,
                -9.516830444335938,
                -0.09570905566215515
            ],
            "speed_kmh": 34.61616545159297,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.021484375,
                        "y": 5217.00537109375,
                        "z": 378.70367431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1530713587999344,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.029052734375,
                        "y": 5205.0068359375,
                        "z": 378.6072998046875
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.91845703125,
                        "y": 5138.009765625,
                        "z": 378.2421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.057373046875,
                        "y": 5161.5068359375,
                        "z": 378.4231872558594
                    },
                    "rotation": {
                        "roll": 1.3340479831924767e-08,
                        "pitch": -0.3619931638240814,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.043701171875,
                        "y": 5182.5068359375,
                        "z": 378.5272216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2501.99853515625,
                        "y": 5121.2724609375,
                        "z": 378.07568359375
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.864990234375,
                        "y": 5135.029296875,
                        "z": 378.2630310058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.54443359375,
                        "y": 4936.99609375,
                        "z": 375.79608154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.154296875,
                        "y": 4951.78466796875,
                        "z": 376.0063171386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.317011833190918,
                "transform": {
                    "location": {
                        "x": -2482.1259765625,
                        "y": 4967.19287109375,
                        "z": 376.20623779296875
                    },
                    "rotation": {
                        "roll": 0.007856082171201706,
                        "pitch": -0.7492033839225769,
                        "yaw": -82.23182678222656
                    }
                },
                "velocity": {
                    "x": 1.1231695413589478,
                    "y": -8.240212440490723,
                    "z": -0.10038118064403534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05418586730957,
                "transform": {
                    "location": {
                        "x": -2484.25537109375,
                        "y": 4981.90234375,
                        "z": 376.36248779296875
                    },
                    "rotation": {
                        "roll": 0.0018169269897043705,
                        "pitch": -0.6675143241882324,
                        "yaw": -81.51221466064453
                    }
                },
                "velocity": {
                    "x": 1.183842420578003,
                    "y": -7.966268062591553,
                    "z": -0.08367841690778732
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615601539611816,
                "transform": {
                    "location": {
                        "x": -2488.770263671875,
                        "y": 5012.359375,
                        "z": 376.67083740234375
                    },
                    "rotation": {
                        "roll": 0.002823464572429657,
                        "pitch": -0.5744872093200684,
                        "yaw": -81.82779693603516
                    }
                },
                "velocity": {
                    "x": 1.371338963508606,
                    "y": -9.516830444335938,
                    "z": -0.09570905566215515
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.289714813232422,
                "transform": {
                    "location": {
                        "x": -2491.21728515625,
                        "y": 5030.3857421875,
                        "z": 376.8553466796875
                    },
                    "rotation": {
                        "roll": -0.004852335900068283,
                        "pitch": -0.6788661479949951,
                        "yaw": -82.8597412109375
                    }
                },
                "velocity": {
                    "x": 1.17595636844635,
                    "y": -9.21431827545166,
                    "z": -0.11077279597520828
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.67404842376709,
                "transform": {
                    "location": {
                        "x": -2494.427978515625,
                        "y": 5059.08154296875,
                        "z": 377.2248229980469
                    },
                    "rotation": {
                        "roll": -0.001708974246867001,
                        "pitch": -0.7500640153884888,
                        "yaw": -84.45648193359375
                    }
                },
                "velocity": {
                    "x": 0.939795970916748,
                    "y": -9.627456665039062,
                    "z": -0.12682859599590302
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.976494789123535,
                "transform": {
                    "location": {
                        "x": -2496.178955078125,
                        "y": 5079.37841796875,
                        "z": 377.5007019042969
                    },
                    "rotation": {
                        "roll": -0.03564453125,
                        "pitch": -0.5223113894462585,
                        "yaw": -85.65599060058594
                    }
                },
                "velocity": {
                    "x": 0.7643913626670837,
                    "y": -9.94619083404541,
                    "z": -0.1393965631723404
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.74311637878418,
                "transform": {
                    "location": {
                        "x": -2497.538330078125,
                        "y": 5099.970703125,
                        "z": 377.80657958984375
                    },
                    "rotation": {
                        "roll": -0.018646221607923508,
                        "pitch": -0.8095686435699463,
                        "yaw": -86.821044921875
                    }
                },
                "velocity": {
                    "x": 0.49374920129776,
                    "y": -8.728273391723633,
                    "z": -0.1246224194765091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.352294921875,
                        "y": 5117.25341796875,
                        "z": 378.0280456542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.428955078125,
                        "y": 5119.25439453125,
                        "z": 378.0540466308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.443343162536621,
                "transform": {
                    "location": {
                        "x": -2501.119140625,
                        "y": 5102.6005859375,
                        "z": 377.8514099121094
                    },
                    "rotation": {
                        "roll": -0.011291421949863434,
                        "pitch": -1.3755180835723877,
                        "yaw": -86.19987487792969
                    }
                },
                "velocity": {
                    "x": 0.7338142991065979,
                    "y": -12.420453071594238,
                    "z": -0.17509114742279053
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 19.73745346069336,
                "transform": {
                    "location": {
                        "x": -2499.605224609375,
                        "y": 5079.5400390625,
                        "z": 377.5006408691406
                    },
                    "rotation": {
                        "roll": -0.018310565501451492,
                        "pitch": -0.7648581862449646,
                        "yaw": -85.61521911621094
                    }
                },
                "velocity": {
                    "x": 1.4952903985977173,
                    "y": -19.678789138793945,
                    "z": -0.276410847902298
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 20.539962768554688,
                "transform": {
                    "location": {
                        "x": -2497.474365234375,
                        "y": 5055.2978515625,
                        "z": 377.1888122558594
                    },
                    "rotation": {
                        "roll": 0.0240170881152153,
                        "pitch": -0.7935518026351929,
                        "yaw": -84.24840545654297
                    }
                },
                "velocity": {
                    "x": 2.055251359939575,
                    "y": -20.435176849365234,
                    "z": -0.2637178897857666
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 24.41771125793457,
                "transform": {
                    "location": {
                        "x": -2487.834716796875,
                        "y": 4982.8701171875,
                        "z": 376.37738037109375
                    },
                    "rotation": {
                        "roll": 0.003446570597589016,
                        "pitch": -0.5405001640319824,
                        "yaw": -81.53593444824219
                    }
                },
                "velocity": {
                    "x": 3.600376605987549,
                    "y": -24.149553298950195,
                    "z": -0.24690936505794525
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.315673828125,
                        "y": 4957.0361328125,
                        "z": 376.0841369628906
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.765348434448242,
                "transform": {
                    "location": {
                        "x": -2499.968017578125,
                        "y": 5045.41357421875,
                        "z": 377.05902099609375
                    },
                    "rotation": {
                        "roll": -0.1979370266199112,
                        "pitch": -0.7227774262428284,
                        "yaw": -83.59455108642578
                    }
                },
                "velocity": {
                    "x": 2.4983673095703125,
                    "y": -22.626047134399414,
                    "z": -0.28497380018234253
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.286176681518555,
                "transform": {
                    "location": {
                        "x": -2496.826171875,
                        "y": 5019.8896484375,
                        "z": 376.7569885253906
                    },
                    "rotation": {
                        "roll": -0.09933473914861679,
                        "pitch": -0.6170939207077026,
                        "yaw": -82.11936950683594
                    }
                },
                "velocity": {
                    "x": 3.138838529586792,
                    "y": -23.072284698486328,
                    "z": -0.2518460750579834
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.82770347595215,
                "transform": {
                    "location": {
                        "x": -2493.25537109375,
                        "y": 4995.41259765625,
                        "z": 376.5484924316406
                    },
                    "rotation": {
                        "roll": -0.00970462430268526,
                        "pitch": -0.533075749874115,
                        "yaw": -81.4062271118164
                    }
                },
                "velocity": {
                    "x": 3.5544350147247314,
                    "y": -23.560060501098633,
                    "z": -0.22122637927532196
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 24.38193702697754,
                "transform": {
                    "location": {
                        "x": -2489.494873046875,
                        "y": 4970.4365234375,
                        "z": 376.25091552734375
                    },
                    "rotation": {
                        "roll": 0.013560006394982338,
                        "pitch": -0.6627127528190613,
                        "yaw": -82.06365203857422
                    }
                },
                "velocity": {
                    "x": 3.496185779571533,
                    "y": -24.128286361694336,
                    "z": -0.28512054681777954
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0000572204589844,
        "expert_target_speed": 0.0,
        "target_point": [
            49.86835055948109,
            8.09153002559636
        ],
        "target_point_next": [
            79.80500585898645,
            17.860492995538287
        ]
    },
    "415": {
        "acceleration": [
            0.23392558097839355,
            4.23213005065918,
            0.0434364378452301
        ],
        "angular_velocity": [
            -1.3232837915420532,
            -0.43041107058525085,
            3.64489483833313
        ],
        "forward_vector": [
            0.08310117572546005,
            -0.9961501955986023,
            -0.02790994383394718
        ],
        "right_vector": [
            0.9965409636497498,
            0.0830828920006752,
            0.0018161011394113302
        ],
        "location": [
            -2492.117919921875,
            5033.228515625,
            376.90032958984375
        ],
        "rotation": [
            -0.10409554839134216,
            -1.5993297100067139,
            -85.23129272460938
        ],
        "velocity": [
            0.6789531707763672,
            -7.519420623779297,
            -0.09172238409519196
        ],
        "speed": 7.550010855980587,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4999858546620546,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 5.279043197631836,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2490.92333984375,
                5028.0869140625,
                376.8281555175781
            ],
            "velocity": [
                1.1831059455871582,
                -9.174126625061035,
                -0.10683517903089523
            ],
            "speed_kmh": 33.3025788168926,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.022705078125,
                        "y": 5214.5068359375,
                        "z": 378.6490783691406
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03076171875,
                        "y": 5202.5068359375,
                        "z": 378.5992736816406
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.8779296875,
                        "y": 5135.6845703125,
                        "z": 378.2213439941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05908203125,
                        "y": 5159.0068359375,
                        "z": 378.40673828125
                    },
                    "rotation": {
                        "roll": -1.3340534898986789e-08,
                        "pitch": -0.39864397048950195,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.045166015625,
                        "y": 5180.0068359375,
                        "z": 378.5174255371094
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2501.891845703125,
                        "y": 5118.30517578125,
                        "z": 378.0416259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.82177734375,
                        "y": 5132.9462890625,
                        "z": 378.2174377441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.298583984375,
                        "y": 4934.50830078125,
                        "z": 375.75994873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.863525390625,
                        "y": 4949.3017578125,
                        "z": 375.9714660644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.107537269592285,
                "transform": {
                    "location": {
                        "x": -2481.84716796875,
                        "y": 4965.1103515625,
                        "z": 376.1808166503906
                    },
                    "rotation": {
                        "roll": 0.012043247930705547,
                        "pitch": -0.742550790309906,
                        "yaw": -82.40922546386719
                    }
                },
                "velocity": {
                    "x": 1.067152500152588,
                    "y": -8.036389350891113,
                    "z": -0.09892617166042328
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.899469375610352,
                "transform": {
                    "location": {
                        "x": -2483.966796875,
                        "y": 4979.95849609375,
                        "z": 376.3414306640625
                    },
                    "rotation": {
                        "roll": 0.0015863816952332854,
                        "pitch": -0.6335409879684448,
                        "yaw": -81.58415222167969
                    }
                },
                "velocity": {
                    "x": 1.1559021472930908,
                    "y": -7.81399393081665,
                    "z": -0.08371084928512573
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615470886230469,
                "transform": {
                    "location": {
                        "x": -2488.42431640625,
                        "y": 5009.98046875,
                        "z": 376.6470947265625
                    },
                    "rotation": {
                        "roll": 0.005813221912831068,
                        "pitch": -0.5596929788589478,
                        "yaw": -81.68934631347656
                    }
                },
                "velocity": {
                    "x": 1.3975164890289307,
                    "y": -9.512887954711914,
                    "z": -0.09585729986429214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.250716209411621,
                "transform": {
                    "location": {
                        "x": -2490.92333984375,
                        "y": 5028.0869140625,
                        "z": 376.8281555175781
                    },
                    "rotation": {
                        "roll": -0.00253299786709249,
                        "pitch": -0.6670772433280945,
                        "yaw": -82.6766586303711
                    }
                },
                "velocity": {
                    "x": 1.1831059455871582,
                    "y": -9.174126625061035,
                    "z": -0.10683517903089523
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.699957847595215,
                "transform": {
                    "location": {
                        "x": -2494.19140625,
                        "y": 5056.6708984375,
                        "z": 377.1932678222656
                    },
                    "rotation": {
                        "roll": -0.0009460340952500701,
                        "pitch": -0.7432816624641418,
                        "yaw": -84.34518432617188
                    }
                },
                "velocity": {
                    "x": 0.9654799699783325,
                    "y": -9.650961875915527,
                    "z": -0.12633737921714783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.717474937438965,
                "transform": {
                    "location": {
                        "x": -2495.986572265625,
                        "y": 5076.88818359375,
                        "z": 377.4664611816406
                    },
                    "rotation": {
                        "roll": -0.02267454005777836,
                        "pitch": -0.6966519355773926,
                        "yaw": -85.56499481201172
                    }
                },
                "velocity": {
                    "x": 0.7531226873397827,
                    "y": -9.687296867370605,
                    "z": -0.1356886625289917
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.817374229431152,
                "transform": {
                    "location": {
                        "x": -2497.406005859375,
                        "y": 5097.6494140625,
                        "z": 377.7712707519531
                    },
                    "rotation": {
                        "roll": -0.01116943359375,
                        "pitch": -0.5569472312927246,
                        "yaw": -86.71508026123047
                    }
                },
                "velocity": {
                    "x": 0.5670650601387024,
                    "y": -9.799956321716309,
                    "z": -0.14186294376850128
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.26123046875,
                        "y": 5114.96435546875,
                        "z": 378.00054931640625
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.353759765625,
                        "y": 5117.1708984375,
                        "z": 378.0301818847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.836548805236816,
                "transform": {
                    "location": {
                        "x": -2500.948486328125,
                        "y": 5099.658203125,
                        "z": 377.8082275390625
                    },
                    "rotation": {
                        "roll": -0.0204467810690403,
                        "pitch": -1.2027552127838135,
                        "yaw": -85.67034912109375
                    }
                },
                "velocity": {
                    "x": 0.7297696471214294,
                    "y": -11.812832832336426,
                    "z": -0.16828209161758423
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 20.246967315673828,
                "transform": {
                    "location": {
                        "x": -2499.21630859375,
                        "y": 5074.55517578125,
                        "z": 377.4313049316406
                    },
                    "rotation": {
                        "roll": -0.018188446760177612,
                        "pitch": -0.7540528178215027,
                        "yaw": -85.31668090820312
                    }
                },
                "velocity": {
                    "x": 1.6360783576965332,
                    "y": -20.1788272857666,
                    "z": -0.27908554673194885
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 21.066360473632812,
                "transform": {
                    "location": {
                        "x": -2496.94287109375,
                        "y": 5050.12158203125,
                        "z": 377.1224670410156
                    },
                    "rotation": {
                        "roll": 0.025890890508890152,
                        "pitch": -0.7792357206344604,
                        "yaw": -83.94302368164062
                    }
                },
                "velocity": {
                    "x": 2.2167646884918213,
                    "y": -20.947721481323242,
                    "z": -0.2653679847717285
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 24.497587203979492,
                "transform": {
                    "location": {
                        "x": -2486.937255859375,
                        "y": 4976.81689453125,
                        "z": 376.3133544921875
                    },
                    "rotation": {
                        "roll": 0.008865990675985813,
                        "pitch": -0.6000047922134399,
                        "yaw": -81.67227172851562
                    }
                },
                "velocity": {
                    "x": 3.562412738800049,
                    "y": -24.235746383666992,
                    "z": -0.2637863755226135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.564697265625,
                        "y": 4950.83154296875,
                        "z": 375.998779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.48394012451172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.768571853637695,
                "transform": {
                    "location": {
                        "x": -2499.32763671875,
                        "y": 5039.7587890625,
                        "z": 376.9877014160156
                    },
                    "rotation": {
                        "roll": -0.2023010402917862,
                        "pitch": -0.7181055545806885,
                        "yaw": -83.24887084960938
                    }
                },
                "velocity": {
                    "x": 2.632385730743408,
                    "y": -22.614110946655273,
                    "z": -0.28365930914878845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.291393280029297,
                "transform": {
                    "location": {
                        "x": -2496.02392578125,
                        "y": 5014.12255859375,
                        "z": 376.69573974609375
                    },
                    "rotation": {
                        "roll": -0.09765622019767761,
                        "pitch": -0.5837352275848389,
                        "yaw": -81.80042266845703
                    }
                },
                "velocity": {
                    "x": 3.2709591388702393,
                    "y": -23.059337615966797,
                    "z": -0.23831674456596375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.829561233520508,
                "transform": {
                    "location": {
                        "x": -2492.36767578125,
                        "y": 4989.52197265625,
                        "z": 376.4928283691406
                    },
                    "rotation": {
                        "roll": -0.000610394636169076,
                        "pitch": -0.5343598127365112,
                        "yaw": -81.46568298339844
                    }
                },
                "velocity": {
                    "x": 3.5411217212677,
                    "y": -23.563922882080078,
                    "z": -0.22359779477119446
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 24.38347053527832,
                "transform": {
                    "location": {
                        "x": -2488.635009765625,
                        "y": 4964.40283203125,
                        "z": 376.1779479980469
                    },
                    "rotation": {
                        "roll": 0.016546502709388733,
                        "pitch": -0.7115759253501892,
                        "yaw": -82.50009155273438
                    }
                },
                "velocity": {
                    "x": 3.3515288829803467,
                    "y": -24.150156021118164,
                    "z": -0.30145490169525146
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2328498810529709,
        "expert_target_speed": 0.0,
        "target_point": [
            47.926034698595664,
            7.252260556849572
        ],
        "target_point_next": [
            78.02413023686094,
            16.511883281288984
        ]
    },
    "420": {
        "acceleration": [
            0.3163182735443115,
            1.288919448852539,
            0.023257732391357422
        ],
        "angular_velocity": [
            -1.5485175848007202,
            -0.1912040412425995,
            3.8265559673309326
        ],
        "forward_vector": [
            0.09941549599170685,
            -0.994814395904541,
            -0.021466631442308426
        ],
        "right_vector": [
            0.9950458407402039,
            0.09938101470470428,
            0.0026694664265960455
        ],
        "location": [
            -2491.943359375,
            5031.4541015625,
            376.8775634765625
        ],
        "rotation": [
            -0.1529846042394638,
            -1.2300418615341187,
            -84.29316711425781
        ],
        "velocity": [
            0.7510610222816467,
            -6.854796409606934,
            -0.08164892345666885
        ],
        "speed": 6.895819492732597,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4999089626468542,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 5.817536354064941,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2490.62646484375,
                5025.7880859375,
                376.8014831542969
            ],
            "velocity": [
                1.2160496711730957,
                -9.209774017333984,
                -0.1068146601319313
            ],
            "speed_kmh": 33.44516709745406,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.024658203125,
                        "y": 5212.0068359375,
                        "z": 378.6314697265625
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0322265625,
                        "y": 5200.0068359375,
                        "z": 378.59100341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.826171875,
                        "y": 5133.21728515625,
                        "z": 378.1980895996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.060791015625,
                        "y": 5156.5068359375,
                        "z": 378.39019775390625
                    },
                    "rotation": {
                        "roll": -1.3340534898986789e-08,
                        "pitch": -0.39864397048950195,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.046875,
                        "y": 5177.5068359375,
                        "z": 378.5071716308594
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2501.776611328125,
                        "y": 5115.2333984375,
                        "z": 378.0056457519531
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.775146484375,
                        "y": 5130.86279296875,
                        "z": 378.1814270019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3721,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.063232421875,
                        "y": 4932.0185546875,
                        "z": 375.72296142578125
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.583251953125,
                        "y": 4946.8173828125,
                        "z": 375.9362487792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.836978435516357,
                "transform": {
                    "location": {
                        "x": -2481.613525390625,
                        "y": 4963.34130859375,
                        "z": 376.1585388183594
                    },
                    "rotation": {
                        "roll": 0.005470556672662497,
                        "pitch": -0.8597704768180847,
                        "yaw": -82.48704528808594
                    }
                },
                "velocity": {
                    "x": 0.8924650549888611,
                    "y": -6.777928829193115,
                    "z": -0.08637984842061996
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.46343469619751,
                "transform": {
                    "location": {
                        "x": -2483.67919921875,
                        "y": 4978.0146484375,
                        "z": 376.3206481933594
                    },
                    "rotation": {
                        "roll": 0.0015540702734142542,
                        "pitch": -0.6355559229850769,
                        "yaw": -81.56281280517578
                    }
                },
                "velocity": {
                    "x": 1.093531608581543,
                    "y": -7.382472515106201,
                    "z": -0.07838021963834763
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615412712097168,
                "transform": {
                    "location": {
                        "x": -2488.074951171875,
                        "y": 5007.60205078125,
                        "z": 376.6239318847656
                    },
                    "rotation": {
                        "roll": 0.0025008427910506725,
                        "pitch": -0.545499861240387,
                        "yaw": -81.66050720214844
                    }
                },
                "velocity": {
                    "x": 1.3973078727722168,
                    "y": -9.512897491455078,
                    "z": -0.09207015484571457
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.290324211120605,
                "transform": {
                    "location": {
                        "x": -2490.62646484375,
                        "y": 5025.7880859375,
                        "z": 376.8014831542969
                    },
                    "rotation": {
                        "roll": -0.0032958874944597483,
                        "pitch": -0.653956413269043,
                        "yaw": -82.60955047607422
                    }
                },
                "velocity": {
                    "x": 1.2160496711730957,
                    "y": -9.209774017333984,
                    "z": -0.1068146601319313
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.673440933227539,
                "transform": {
                    "location": {
                        "x": -2493.948486328125,
                        "y": 5054.26220703125,
                        "z": 377.1618957519531
                    },
                    "rotation": {
                        "roll": -0.001739520812407136,
                        "pitch": -0.7367861270904541,
                        "yaw": -84.1751480102539
                    }
                },
                "velocity": {
                    "x": 0.9867774248123169,
                    "y": -9.622180938720703,
                    "z": -0.12392287701368332
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.827589988708496,
                "transform": {
                    "location": {
                        "x": -2495.7978515625,
                        "y": 5074.5390625,
                        "z": 377.4349670410156
                    },
                    "rotation": {
                        "roll": -0.03854367509484291,
                        "pitch": -1.0055198669433594,
                        "yaw": -85.36775970458984
                    }
                },
                "velocity": {
                    "x": 0.7200817465782166,
                    "y": -8.797330856323242,
                    "z": -0.1216278225183487
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.702805519104004,
                "transform": {
                    "location": {
                        "x": -2497.260986328125,
                        "y": 5095.17822265625,
                        "z": 377.7371520996094
                    },
                    "rotation": {
                        "roll": -0.01745600812137127,
                        "pitch": -0.7745912075042725,
                        "yaw": -86.56964111328125
                    }
                },
                "velocity": {
                    "x": 0.5887296795845032,
                    "y": -9.683892250061035,
                    "z": -0.14161290228366852
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.16015625,
                        "y": 5112.48779296875,
                        "z": 377.9701843261719
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.271728515625,
                        "y": 5115.087890625,
                        "z": 378.0053405761719
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.078009605407715,
                "transform": {
                    "location": {
                        "x": -2500.748779296875,
                        "y": 5096.5458984375,
                        "z": 377.7580261230469
                    },
                    "rotation": {
                        "roll": -0.008453351445496082,
                        "pitch": -0.5233154296875,
                        "yaw": -86.34190368652344
                    }
                },
                "velocity": {
                    "x": 0.8056305646896362,
                    "y": -13.051811218261719,
                    "z": -0.18849238753318787
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 20.74663543701172,
                "transform": {
                    "location": {
                        "x": -2498.791015625,
                        "y": 5069.4462890625,
                        "z": 377.361328125
                    },
                    "rotation": {
                        "roll": -0.021423345431685448,
                        "pitch": -0.7411233186721802,
                        "yaw": -85.01715087890625
                    }
                },
                "velocity": {
                    "x": 1.781727910041809,
                    "y": -20.668102264404297,
                    "z": -0.2789914608001709
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 21.584312438964844,
                "transform": {
                    "location": {
                        "x": -2496.369140625,
                        "y": 5044.81884765625,
                        "z": 377.0552673339844
                    },
                    "rotation": {
                        "roll": 0.02792840637266636,
                        "pitch": -0.7725216746330261,
                        "yaw": -83.6075668334961
                    }
                },
                "velocity": {
                    "x": 2.39345121383667,
                    "y": -21.449491500854492,
                    "z": -0.27070045471191406
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 24.461639404296875,
                "transform": {
                    "location": {
                        "x": -2486.05859375,
                        "y": 4970.7607421875,
                        "z": 376.24505615234375
                    },
                    "rotation": {
                        "roll": 0.016421718522906303,
                        "pitch": -0.660301685333252,
                        "yaw": -81.96446990966797
                    }
                },
                "velocity": {
                    "x": 3.455291271209717,
                    "y": -24.214698791503906,
                    "z": -0.28484678268432617
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.860107421875,
                        "y": 4944.6220703125,
                        "z": 375.9105529785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.775781631469727,
                "transform": {
                    "location": {
                        "x": -2498.654052734375,
                        "y": 5034.10595703125,
                        "z": 376.91693115234375
                    },
                    "rotation": {
                        "roll": -0.1963806301355362,
                        "pitch": -0.6990630030632019,
                        "yaw": -82.9340591430664
                    }
                },
                "velocity": {
                    "x": 2.7607715129852295,
                    "y": -22.606107711791992,
                    "z": -0.2797483801841736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.29387664794922,
                "transform": {
                    "location": {
                        "x": -2495.19140625,
                        "y": 5008.359375,
                        "z": 376.6377258300781
                    },
                    "rotation": {
                        "roll": -0.0849304124712944,
                        "pitch": -0.5518792271614075,
                        "yaw": -81.54978942871094
                    }
                },
                "velocity": {
                    "x": 3.378983736038208,
                    "y": -23.04639434814453,
                    "z": -0.2254973202943802
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 23.86663818359375,
                "transform": {
                    "location": {
                        "x": -2491.484619140625,
                        "y": 4983.62939453125,
                        "z": 376.4353332519531
                    },
                    "rotation": {
                        "roll": 0.006258296314626932,
                        "pitch": -0.5574936866760254,
                        "yaw": -81.5229263305664
                    }
                },
                "velocity": {
                    "x": 3.524266004562378,
                    "y": -23.603851318359375,
                    "z": -0.23262497782707214
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.92529296875,
                        "y": 4958.2578125,
                        "z": 376.1029357910156
                    },
                    "rotation": {
                        "roll": -2.6682803522248832e-08,
                        "pitch": -0.7649742960929871,
                        "yaw": -82.8781509399414
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6854060292243958,
        "expert_target_speed": 1.7641012249633807,
        "target_point": [
            46.25536464970156,
            6.469413090462767
        ],
        "target_point_next": [
            76.50102070605246,
            15.235042431840533
        ]
    },
    "425": {
        "acceleration": [
            0.8397531509399414,
            -3.336210250854492,
            -0.032722651958465576
        ],
        "angular_velocity": [
            -1.8299578428268433,
            -0.19150063395500183,
            3.7944724559783936
        ],
        "forward_vector": [
            0.11646322160959244,
            -0.9931017160415649,
            -0.013616855256259441
        ],
        "right_vector": [
            0.9931941032409668,
            0.11643324792385101,
            0.002976067131385207
        ],
        "location": [
            -2491.738037109375,
            5029.70166015625,
            376.85498046875
        ],
        "rotation": [
            -0.17053215205669403,
            -0.7802124619483948,
            -83.31134796142578
        ],
        "velocity": [
            0.9240226745605469,
            -7.273613929748535,
            -0.08637183904647827
        ],
        "speed": 7.332071842401297,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.499767773577432,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.334804534912109,
        "front_vehicle_info": {
            "id": 3703,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -2497.948974609375,
                5028.455078125,
                376.8486633300781
            ],
            "velocity": [
                2.887021064758301,
                -22.598995208740234,
                -0.2671094536781311
            ],
            "speed_kmh": 82.02320318075327,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.026123046875,
                        "y": 5209.5068359375,
                        "z": 378.6216735839844
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.033935546875,
                        "y": 5197.5068359375,
                        "z": 378.5824890136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.77294921875,
                        "y": 5130.84912109375,
                        "z": 378.17529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05908203125,
                        "y": 5154.0068359375,
                        "z": 378.37200927734375
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.048583984375,
                        "y": 5175.0068359375,
                        "z": 378.49615478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28875988721847534,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2501.63916015625,
                        "y": 5111.90185546875,
                        "z": 377.9648742675781
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.72119140625,
                        "y": 5128.77978515625,
                        "z": 378.15838623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.307373046875,
                        "y": 4944.33154296875,
                        "z": 375.9010925292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.065433025360107,
                "transform": {
                    "location": {
                        "x": -2481.38720703125,
                        "y": 4961.6103515625,
                        "z": 376.13665771484375
                    },
                    "rotation": {
                        "roll": 0.007370243780314922,
                        "pitch": -0.74908047914505,
                        "yaw": -82.56100463867188
                    }
                },
                "velocity": {
                    "x": 0.906596302986145,
                    "y": -7.006475448608398,
                    "z": -0.0878833457827568
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.448718547821045,
                "transform": {
                    "location": {
                        "x": -2483.430419921875,
                        "y": 4976.32177734375,
                        "z": 376.3023681640625
                    },
                    "rotation": {
                        "roll": 0.0041910200379788876,
                        "pitch": -0.6843302845954895,
                        "yaw": -81.67972564697266
                    }
                },
                "velocity": {
                    "x": 0.9214543104171753,
                    "y": -6.382141590118408,
                    "z": -0.07182005047798157
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.61523723602295,
                "transform": {
                    "location": {
                        "x": -2487.724609375,
                        "y": 5005.22412109375,
                        "z": 376.601318359375
                    },
                    "rotation": {
                        "roll": 0.003164729569107294,
                        "pitch": -0.5340592861175537,
                        "yaw": -81.59038543701172
                    }
                },
                "velocity": {
                    "x": 1.410014033317566,
                    "y": -9.510851860046387,
                    "z": -0.09135568141937256
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.250056266784668,
                "transform": {
                    "location": {
                        "x": -2490.321533203125,
                        "y": 5023.4912109375,
                        "z": 376.7754211425781
                    },
                    "rotation": {
                        "roll": -0.003540072124451399,
                        "pitch": -0.638950526714325,
                        "yaw": -82.40446472167969
                    }
                },
                "velocity": {
                    "x": 1.2291384935379028,
                    "y": -9.167449951171875,
                    "z": -0.10310392826795578
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.699753761291504,
                "transform": {
                    "location": {
                        "x": -2493.700439453125,
                        "y": 5051.853515625,
                        "z": 377.1309814453125
                    },
                    "rotation": {
                        "roll": 0.0005999580025672913,
                        "pitch": -0.7297988533973694,
                        "yaw": -84.07012176513672
                    }
                },
                "velocity": {
                    "x": 1.0119554996490479,
                    "y": -9.646037101745605,
                    "z": -0.12305542081594467
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.463850021362305,
                "transform": {
                    "location": {
                        "x": -2495.62451171875,
                        "y": 5072.4287109375,
                        "z": 377.406005859375
                    },
                    "rotation": {
                        "roll": -0.02111813984811306,
                        "pitch": -1.0379018783569336,
                        "yaw": -85.28656768798828
                    }
                },
                "velocity": {
                    "x": 0.698040246963501,
                    "y": -8.434225082397461,
                    "z": -0.11552192270755768
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.731013298034668,
                "transform": {
                    "location": {
                        "x": -2497.12109375,
                        "y": 5092.8955078125,
                        "z": 377.70635986328125
                    },
                    "rotation": {
                        "roll": -0.014129666611552238,
                        "pitch": -1.0977411270141602,
                        "yaw": -86.44225311279297
                    }
                },
                "velocity": {
                    "x": 0.5450316071510315,
                    "y": -8.71304702758789,
                    "z": -0.1278742402791977
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.05712890625,
                        "y": 5110.17041015625,
                        "z": 377.9407043457031
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.186767578125,
                        "y": 5113.00439453125,
                        "z": 377.98004150390625
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.371866226196289,
                "transform": {
                    "location": {
                        "x": -2500.537841796875,
                        "y": 5093.18115234375,
                        "z": 377.7088623046875
                    },
                    "rotation": {
                        "roll": 0.004618046339601278,
                        "pitch": -0.493986576795578,
                        "yaw": -86.57015991210938
                    }
                },
                "velocity": {
                    "x": 0.8898419141769409,
                    "y": -14.342768669128418,
                    "z": -0.20908167958259583
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 21.237136840820312,
                "transform": {
                    "location": {
                        "x": -2498.3291015625,
                        "y": 5064.21630859375,
                        "z": 377.2909240722656
                    },
                    "rotation": {
                        "roll": -0.02148441970348358,
                        "pitch": -0.7293685674667358,
                        "yaw": -84.717041015625
                    }
                },
                "velocity": {
                    "x": 1.9324935674667358,
                    "y": -21.14715576171875,
                    "z": -0.28146225214004517
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 22.09423828125,
                "transform": {
                    "location": {
                        "x": -2495.750732421875,
                        "y": 5039.39208984375,
                        "z": 376.98663330078125
                    },
                    "rotation": {
                        "roll": 0.028759988024830818,
                        "pitch": -0.7740789651870728,
                        "yaw": -83.26670837402344
                    }
                },
                "velocity": {
                    "x": 2.5745601654052734,
                    "y": -21.94196891784668,
                    "z": -0.2774830758571625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 24.437973022460938,
                "transform": {
                    "location": {
                        "x": -2485.21240234375,
                        "y": 4964.708984375,
                        "z": 376.1722106933594
                    },
                    "rotation": {
                        "roll": 0.025172928348183632,
                        "pitch": -0.7080378532409668,
                        "yaw": -82.36122131347656
                    }
                },
                "velocity": {
                    "x": 3.2964601516723633,
                    "y": -24.212753295898438,
                    "z": -0.3007625937461853
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.20068359375,
                        "y": 4938.40771484375,
                        "z": 375.8219299316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.784223556518555,
                "transform": {
                    "location": {
                        "x": -2497.948974609375,
                        "y": 5028.455078125,
                        "z": 376.8486633300781
                    },
                    "rotation": {
                        "roll": -0.1931152045726776,
                        "pitch": -0.6632454991340637,
                        "yaw": -82.61713409423828
                    }
                },
                "velocity": {
                    "x": 2.887021064758301,
                    "y": -22.598995208740234,
                    "z": -0.2671094536781311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.383222579956055,
                "transform": {
                    "location": {
                        "x": -2494.336181640625,
                        "y": 5002.59228515625,
                        "z": 376.5826416015625
                    },
                    "rotation": {
                        "roll": -0.05929560214281082,
                        "pitch": -0.5160480737686157,
                        "yaw": -81.43086242675781
                    }
                },
                "velocity": {
                    "x": 3.4579994678497314,
                    "y": -23.125099182128906,
                    "z": -0.21707895398139954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 24.2313289642334,
                "transform": {
                    "location": {
                        "x": -2490.600830078125,
                        "y": 4977.68359375,
                        "z": 376.3731994628906
                    },
                    "rotation": {
                        "roll": 0.014494964852929115,
                        "pitch": -0.5801084041595459,
                        "yaw": -81.63671112060547
                    }
                },
                "velocity": {
                    "x": 3.5342562198638916,
                    "y": -23.970815658569336,
                    "z": -0.25770094990730286
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2487.228759765625,
                        "y": 4952.04736328125,
                        "z": 376.02154541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0015298128128052,
        "expert_target_speed": 4.117247720826899,
        "target_point": [
            44.59500438920438,
            5.676018709364396
        ],
        "target_point_next": [
            74.98642751155965,
            13.922070408660728
        ]
    },
    "430": {
        "acceleration": [
            0.5796456336975098,
            -4.379310607910156,
            -0.054822713136672974
        ],
        "angular_velocity": [
            -1.1482149362564087,
            0.09734302759170532,
            0.6326419115066528
        ],
        "forward_vector": [
            0.12445009499788284,
            -0.9922001361846924,
            -0.007139264140278101
        ],
        "right_vector": [
            0.9922257661819458,
            0.1244436576962471,
            0.0013406005455181003
        ],
        "location": [
            -2491.49267578125,
            5027.7509765625,
            376.8307800292969
        ],
        "rotation": [
            -0.0768127366900444,
            -0.40905317664146423,
            -82.85081481933594
        ],
        "velocity": [
            1.0547161102294922,
            -8.311908721923828,
            -0.09715274721384048
        ],
        "speed": 8.37855910492795,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.499535240549916,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.566017150878906,
        "front_vehicle_info": {
            "id": 3703,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -2497.21142578125,
                5022.79736328125,
                376.7835388183594
            ],
            "velocity": [
                3.02384352684021,
                -22.68126678466797,
                -0.2544806897640228
            ],
            "speed_kmh": 82.38010293495705,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.028076171875,
                        "y": 5207.0068359375,
                        "z": 378.6136779785156
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03564453125,
                        "y": 5195.0068359375,
                        "z": 378.57373046875
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.7138671875,
                        "y": 5128.5771484375,
                        "z": 378.1522521972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05615234375,
                        "y": 5151.5068359375,
                        "z": 378.35369873046875
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05029296875,
                        "y": 5172.5068359375,
                        "z": 378.48431396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28875988721847534,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2501.468994140625,
                        "y": 5108.15283203125,
                        "z": 377.9167785644531
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.66748046875,
                        "y": 5126.69677734375,
                        "z": 378.1355895996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.042236328125,
                        "y": 4941.845703125,
                        "z": 375.8656921386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.37232780456543,
                "transform": {
                    "location": {
                        "x": -2481.11865234375,
                        "y": 4959.517578125,
                        "z": 376.1099853515625
                    },
                    "rotation": {
                        "roll": 0.006985863205045462,
                        "pitch": -0.4951750338077545,
                        "yaw": -82.690673828125
                    }
                },
                "velocity": {
                    "x": 1.1883176565170288,
                    "y": -9.295894622802734,
                    "z": -0.12152397632598877
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.734971046447754,
                "transform": {
                    "location": {
                        "x": -2483.19873046875,
                        "y": 4974.7177734375,
                        "z": 376.28411865234375
                    },
                    "rotation": {
                        "roll": 0.0005343091324903071,
                        "pitch": -0.6426934599876404,
                        "yaw": -81.74806213378906
                    }
                },
                "velocity": {
                    "x": 0.9608298540115356,
                    "y": -6.665660381317139,
                    "z": -0.07494013756513596
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.614958763122559,
                "transform": {
                    "location": {
                        "x": -2487.372314453125,
                        "y": 5002.84619140625,
                        "z": 376.5788269042969
                    },
                    "rotation": {
                        "roll": 0.0016983627574518323,
                        "pitch": -0.5336904525756836,
                        "yaw": -81.59129333496094
                    }
                },
                "velocity": {
                    "x": 1.4086072444915771,
                    "y": -9.51077938079834,
                    "z": -0.09128476679325104
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.290733337402344,
                "transform": {
                    "location": {
                        "x": -2490.012939453125,
                        "y": 5021.19384765625,
                        "z": 376.7498779296875
                    },
                    "rotation": {
                        "roll": -0.0033569184597581625,
                        "pitch": -0.6267654299736023,
                        "yaw": -82.31922912597656
                    }
                },
                "velocity": {
                    "x": 1.2620574235916138,
                    "y": -9.204065322875977,
                    "z": -0.10055757313966751
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.67346477508545,
                "transform": {
                    "location": {
                        "x": -2493.445556640625,
                        "y": 5049.4453125,
                        "z": 377.1001892089844
                    },
                    "rotation": {
                        "roll": -0.001617445144802332,
                        "pitch": -0.7296075820922852,
                        "yaw": -83.8961410522461
                    }
                },
                "velocity": {
                    "x": 1.0340250730514526,
                    "y": -9.617263793945312,
                    "z": -0.1222577840089798
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.939666748046875,
                "transform": {
                    "location": {
                        "x": -2495.438720703125,
                        "y": 5070.2333984375,
                        "z": 377.3749084472656
                    },
                    "rotation": {
                        "roll": -0.037170376628637314,
                        "pitch": -0.7400236129760742,
                        "yaw": -85.1239013671875
                    }
                },
                "velocity": {
                    "x": 0.7700216770172119,
                    "y": -8.905622482299805,
                    "z": -0.12082471698522568
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.889801979064941,
                "transform": {
                    "location": {
                        "x": -2496.983642578125,
                        "y": 5090.720703125,
                        "z": 377.67279052734375
                    },
                    "rotation": {
                        "roll": -0.01571657881140709,
                        "pitch": -0.8879996538162231,
                        "yaw": -86.30547332763672
                    }
                },
                "velocity": {
                    "x": 0.5825698971748352,
                    "y": -8.869766235351562,
                    "z": -0.12822659313678741
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.957763671875,
                        "y": 5107.9990234375,
                        "z": 377.91259765625
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.0986328125,
                        "y": 5110.92236328125,
                        "z": 377.9543151855469
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.448720932006836,
                "transform": {
                    "location": {
                        "x": -2500.302734375,
                        "y": 5089.40185546875,
                        "z": 377.65374755859375
                    },
                    "rotation": {
                        "roll": -0.016510017216205597,
                        "pitch": -0.486965149641037,
                        "yaw": -86.40259552001953
                    }
                },
                "velocity": {
                    "x": 0.9885746836662292,
                    "y": -15.415441513061523,
                    "z": -0.22330313920974731
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 21.72020149230957,
                "transform": {
                    "location": {
                        "x": -2497.828369140625,
                        "y": 5058.8681640625,
                        "z": 377.22015380859375
                    },
                    "rotation": {
                        "roll": -0.02154538407921791,
                        "pitch": -0.7172859311103821,
                        "yaw": -84.4109115600586
                    }
                },
                "velocity": {
                    "x": 2.0893115997314453,
                    "y": -21.617631912231445,
                    "z": -0.28258204460144043
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 22.595653533935547,
                "transform": {
                    "location": {
                        "x": -2495.086669921875,
                        "y": 5033.8427734375,
                        "z": 376.9169006347656
                    },
                    "rotation": {
                        "roll": 0.02806192822754383,
                        "pitch": -0.7523453235626221,
                        "yaw": -82.95179748535156
                    }
                },
                "velocity": {
                    "x": 2.7552452087402344,
                    "y": -22.42534828186035,
                    "z": -0.2755261957645416
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 24.43607521057129,
                "transform": {
                    "location": {
                        "x": -2484.407470703125,
                        "y": 4958.65380859375,
                        "z": 376.09478759765625
                    },
                    "rotation": {
                        "roll": 0.032139405608177185,
                        "pitch": -0.7463415861129761,
                        "yaw": -82.81538391113281
                    }
                },
                "velocity": {
                    "x": 3.1165456771850586,
                    "y": -24.23442268371582,
                    "z": -0.31887128949165344
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.590087890625,
                        "y": 4932.1865234375,
                        "z": 375.7305908203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.88336181640625,
                "transform": {
                    "location": {
                        "x": -2497.21142578125,
                        "y": 5022.79736328125,
                        "z": 376.7835388183594
                    },
                    "rotation": {
                        "roll": -0.1898193061351776,
                        "pitch": -0.6059197187423706,
                        "yaw": -82.3032455444336
                    }
                },
                "velocity": {
                    "x": 3.02384352684021,
                    "y": -22.68126678466797,
                    "z": -0.2544806897640228
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.701635360717773,
                "transform": {
                    "location": {
                        "x": -2493.462158203125,
                        "y": 4996.7724609375,
                        "z": 376.5279235839844
                    },
                    "rotation": {
                        "roll": -0.029052717611193657,
                        "pitch": -0.4791923761367798,
                        "yaw": -81.41626739501953
                    }
                },
                "velocity": {
                    "x": 3.5302538871765137,
                    "y": -23.43621253967285,
                    "z": -0.22088024020195007
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 24.441295623779297,
                "transform": {
                    "location": {
                        "x": -2489.72021484375,
                        "y": 4971.6572265625,
                        "z": 376.3061218261719
                    },
                    "rotation": {
                        "roll": 0.024820061400532722,
                        "pitch": -0.6246617436408997,
                        "yaw": -81.86669158935547
                    }
                },
                "velocity": {
                    "x": 3.4813592433929443,
                    "y": -24.19045639038086,
                    "z": -0.28095948696136475
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2486.516845703125,
                        "y": 4945.83837890625,
                        "z": 375.933349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.8096212148666382,
        "expert_target_speed": 5.432067741238165,
        "target_point": [
            42.6731325115694,
            5.316705133445032
        ],
        "target_point_next": [
            73.12985394288296,
            13.318210472121232
        ]
    },
    "435": {
        "acceleration": [
            1.4702391624450684,
            -7.640743255615234,
            -0.06358236074447632
        ],
        "angular_velocity": [
            -1.687358021736145,
            -0.5142991542816162,
            2.530348777770996
        ],
        "forward_vector": [
            0.13063734769821167,
            -0.9914193153381348,
            -0.004659516271203756
        ],
        "right_vector": [
            0.9914294481277466,
            0.13062994182109833,
            0.001860463060438633
        ],
        "location": [
            -2491.209228515625,
            5025.578125,
            376.80511474609375
        ],
        "rotation": [
            -0.1065978929400444,
            -0.2669715881347656,
            -82.49349212646484
        ],
        "velocity": [
            1.2766669988632202,
            -9.361566543579102,
            -0.10726957023143768
        ],
        "speed": 9.448217121544465,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4991779416900286,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.96370792388916,
        "front_vehicle_info": {
            "id": 3703,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -2496.435791015625,
                5017.095703125,
                376.72113037109375
            ],
            "velocity": [
                3.1874117851257324,
                -22.929346084594727,
                -0.2427244633436203
            ],
            "speed_kmh": 83.34395919996588,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.029296875,
                        "y": 5204.5068359375,
                        "z": 378.6056823730469
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.037353515625,
                        "y": 5192.5068359375,
                        "z": 378.56463623046875
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.65380859375,
                        "y": 5126.3056640625,
                        "z": 378.1291809082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04248046875,
                        "y": 5149.0068359375,
                        "z": 378.3338623046875
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0517578125,
                        "y": 5170.0068359375,
                        "z": 378.47174072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3253765404224396,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2501.275146484375,
                        "y": 5104.17529296875,
                        "z": 377.8639221191406
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.6044921875,
                        "y": 5124.6162109375,
                        "z": 378.11328125
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.78173828125,
                        "y": 4939.3603515625,
                        "z": 375.8304138183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.858796119689941,
                "transform": {
                    "location": {
                        "x": -2480.80859375,
                        "y": 4957.0849609375,
                        "z": 376.0777587890625
                    },
                    "rotation": {
                        "roll": 0.0015819024993106723,
                        "pitch": -0.6447766423225403,
                        "yaw": -82.73381042480469
                    }
                },
                "velocity": {
                    "x": 1.245025873184204,
                    "y": -9.779000282287598,
                    "z": -0.1301576793193817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.884607315063477,
                "transform": {
                    "location": {
                        "x": -2482.93798828125,
                        "y": 4972.90966796875,
                        "z": 376.2632751464844
                    },
                    "rotation": {
                        "roll": 0.0007958380156196654,
                        "pitch": -0.5810851454734802,
                        "yaw": -81.81328582763672
                    }
                },
                "velocity": {
                    "x": 1.1219514608383179,
                    "y": -7.803866863250732,
                    "z": -0.08898474276065826
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615396499633789,
                "transform": {
                    "location": {
                        "x": -2487.01953125,
                        "y": 5000.46875,
                        "z": 376.5563049316406
                    },
                    "rotation": {
                        "roll": -3.0497054467559792e-05,
                        "pitch": -0.5349130630493164,
                        "yaw": -81.5403823852539
                    }
                },
                "velocity": {
                    "x": 1.4151153564453125,
                    "y": -9.510260581970215,
                    "z": -0.09081164002418518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.249539375305176,
                "transform": {
                    "location": {
                        "x": -2489.696533203125,
                        "y": 5018.8984375,
                        "z": 376.7248840332031
                    },
                    "rotation": {
                        "roll": -0.0028991561848670244,
                        "pitch": -0.6167592406272888,
                        "yaw": -82.12028503417969
                    }
                },
                "velocity": {
                    "x": 1.2740464210510254,
                    "y": -9.160842895507812,
                    "z": -0.09866106510162354
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.699796676635742,
                "transform": {
                    "location": {
                        "x": -2493.185791015625,
                        "y": 5047.03759765625,
                        "z": 377.0694580078125
                    },
                    "rotation": {
                        "roll": -0.0005798919009976089,
                        "pitch": -0.7236653566360474,
                        "yaw": -83.79769134521484
                    }
                },
                "velocity": {
                    "x": 1.047729253768921,
                    "y": -9.64225959777832,
                    "z": -0.12305451184511185
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.083404541015625,
                "transform": {
                    "location": {
                        "x": -2495.225830078125,
                        "y": 5067.7841796875,
                        "z": 377.340576171875
                    },
                    "rotation": {
                        "roll": -0.024475090205669403,
                        "pitch": -0.44390761852264404,
                        "yaw": -85.01507568359375
                    }
                },
                "velocity": {
                    "x": 0.8789572715759277,
                    "y": -10.044097900390625,
                    "z": -0.1363079845905304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.868577003479004,
                "transform": {
                    "location": {
                        "x": -2496.828125,
                        "y": 5088.3759765625,
                        "z": 377.6365966796875
                    },
                    "rotation": {
                        "roll": -0.015533456578850746,
                        "pitch": -0.5932906866073608,
                        "yaw": -86.17179870605469
                    }
                },
                "velocity": {
                    "x": 0.6653183698654175,
                    "y": -9.845098495483398,
                    "z": -0.14214177429676056
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.845947265625,
                        "y": 5105.6845703125,
                        "z": 377.8818664550781
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.00341796875,
                        "y": 5108.84228515625,
                        "z": 377.9275817871094
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.70207977294922,
                "transform": {
                    "location": {
                        "x": -2500.0400390625,
                        "y": 5085.3916015625,
                        "z": 377.5969543457031
                    },
                    "rotation": {
                        "roll": -0.049346912652254105,
                        "pitch": -0.592068076133728,
                        "yaw": -86.04683685302734
                    }
                },
                "velocity": {
                    "x": 1.1445012092590332,
                    "y": -16.6611270904541,
                    "z": -0.2374783307313919
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 22.195451736450195,
                "transform": {
                    "location": {
                        "x": -2497.286865234375,
                        "y": 5053.40283203125,
                        "z": 377.149169921875
                    },
                    "rotation": {
                        "roll": -0.023986803367733955,
                        "pitch": -0.7008934617042542,
                        "yaw": -84.07238006591797
                    }
                },
                "velocity": {
                    "x": 2.2585127353668213,
                    "y": -22.07842254638672,
                    "z": -0.2835654318332672
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 23.088191986083984,
                "transform": {
                    "location": {
                        "x": -2494.37744140625,
                        "y": 5028.17431640625,
                        "z": 376.8487548828125
                    },
                    "rotation": {
                        "roll": 0.028933996334671974,
                        "pitch": -0.718932032585144,
                        "yaw": -82.64451599121094
                    }
                },
                "velocity": {
                    "x": 2.93717885017395,
                    "y": -22.89902114868164,
                    "z": -0.26902851462364197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.74072265625,
                        "y": 4952.470703125,
                        "z": 376.0201416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7906489968299866,
                        "yaw": -83.13304138183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.029296875,
                        "y": 4925.96142578125,
                        "z": 375.6360778808594
                    },
                    "rotation": {
                        "roll": 5.3367415375760174e-08,
                        "pitch": -0.898832380771637,
                        "yaw": -85.23853302001953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 23.151098251342773,
                "transform": {
                    "location": {
                        "x": -2496.435791015625,
                        "y": 5017.095703125,
                        "z": 376.72113037109375
                    },
                    "rotation": {
                        "roll": -0.191619873046875,
                        "pitch": -0.5172160267829895,
                        "yaw": -81.9731674194336
                    }
                },
                "velocity": {
                    "x": 3.1874117851257324,
                    "y": -22.929346084594727,
                    "z": -0.2427244633436203
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.921594619750977,
                "transform": {
                    "location": {
                        "x": -2492.57470703125,
                        "y": 4990.8798828125,
                        "z": 376.4722900390625
                    },
                    "rotation": {
                        "roll": -0.007568333763629198,
                        "pitch": -0.4847384989261627,
                        "yaw": -81.44578552246094
                    }
                },
                "velocity": {
                    "x": 3.560631275177002,
                    "y": -23.654048919677734,
                    "z": -0.22478118538856506
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 24.45318031311035,
                "transform": {
                    "location": {
                        "x": -2488.86328125,
                        "y": 4965.60498046875,
                        "z": 376.2340087890625
                    },
                    "rotation": {
                        "roll": 0.04030146449804306,
                        "pitch": -0.68987637758255,
                        "yaw": -82.24921417236328
                    }
                },
                "velocity": {
                    "x": 3.3450515270233154,
                    "y": -24.22144317626953,
                    "z": -0.3006470501422882
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.84716796875,
                        "y": 4939.625,
                        "z": 375.844482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6511494517326355,
        "expert_target_speed": 6.07499727437909,
        "target_point": [
            40.514202116979845,
            5.0533007251551565
        ],
        "target_point_next": [
            71.02023471823937,
            12.86469899693656
        ]
    },
    "440": {
        "acceleration": [
            0.9197497367858887,
            -2.503223419189453,
            -0.01919567584991455
        ],
        "angular_velocity": [
            0.47802746295928955,
            -0.12557153403759003,
            3.0862157344818115
        ],
        "forward_vector": [
            0.14284785091876984,
            -0.9897406697273254,
            -0.002835150808095932
        ],
        "right_vector": [
            0.9897419810295105,
            0.14284011721611023,
            0.002763813827186823
        ],
        "location": [
            -2490.856201171875,
            5023.08447265625,
            376.77642822265625
        ],
        "rotation": [
            -0.1583556979894638,
            -0.1624423861503601,
            -81.78729248046875
        ],
        "velocity": [
            1.5367478132247925,
            -10.363003730773926,
            -0.11709572374820709
        ],
        "speed": 10.476327608732245,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.64896297454834,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2489.377197265625,
                5016.6025390625,
                376.7003479003906
            ],
            "velocity": [
                1.2821801900863647,
                -9.201735496520996,
                -0.09849070012569427
            ],
            "speed_kmh": 33.44816988971313,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03125,
                        "y": 5202.0068359375,
                        "z": 378.5976867675781
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03857421875,
                        "y": 5190.0068359375,
                        "z": 378.555419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.57763671875,
                        "y": 5123.830078125,
                        "z": 378.1023254394531
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02734375,
                        "y": 5146.5068359375,
                        "z": 378.3139343261719
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.053466796875,
                        "y": 5167.5068359375,
                        "z": 378.4584045410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3253765404224396,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2501.051025390625,
                        "y": 5099.93212890625,
                        "z": 377.8051452636719
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.54052734375,
                        "y": 5122.5361328125,
                        "z": 378.0908203125
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.53173828125,
                        "y": 4936.87255859375,
                        "z": 375.79443359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.503093719482422,
                "transform": {
                    "location": {
                        "x": -2480.51318359375,
                        "y": 4954.6953125,
                        "z": 376.04541015625
                    },
                    "rotation": {
                        "roll": 0.01642603799700737,
                        "pitch": -0.7915300726890564,
                        "yaw": -83.03012084960938
                    }
                },
                "velocity": {
                    "x": 1.1513848304748535,
                    "y": -9.432207107543945,
                    "z": -0.12873846292495728
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.143064498901367,
                "transform": {
                    "location": {
                        "x": -2482.637451171875,
                        "y": 4970.79541015625,
                        "z": 376.2386779785156
                    },
                    "rotation": {
                        "roll": 0.006086394190788269,
                        "pitch": -0.5901829600334167,
                        "yaw": -81.92617797851562
                    }
                },
                "velocity": {
                    "x": 1.2619597911834717,
                    "y": -9.054935455322266,
                    "z": -0.10597597807645798
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.614943504333496,
                "transform": {
                    "location": {
                        "x": -2486.665771484375,
                        "y": 4998.09130859375,
                        "z": 376.5338439941406
                    },
                    "rotation": {
                        "roll": 6.510307139251381e-05,
                        "pitch": -0.5346056818962097,
                        "yaw": -81.55585479736328
                    }
                },
                "velocity": {
                    "x": 1.414389729499817,
                    "y": -9.509904861450195,
                    "z": -0.09139837324619293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.291158676147461,
                "transform": {
                    "location": {
                        "x": -2489.377197265625,
                        "y": 5016.6025390625,
                        "z": 376.7003479003906
                    },
                    "rotation": {
                        "roll": -0.00018311775056645274,
                        "pitch": -0.5985089540481567,
                        "yaw": -82.06304168701172
                    }
                },
                "velocity": {
                    "x": 1.2821801900863647,
                    "y": -9.201735496520996,
                    "z": -0.09849070012569427
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.673206329345703,
                "transform": {
                    "location": {
                        "x": -2492.920166015625,
                        "y": 5044.63134765625,
                        "z": 377.0389099121094
                    },
                    "rotation": {
                        "roll": -0.0016479671467095613,
                        "pitch": -0.7220465540885925,
                        "yaw": -83.63774871826172
                    }
                },
                "velocity": {
                    "x": 1.0794281959533691,
                    "y": -9.612011909484863,
                    "z": -0.1224028468132019
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.667526245117188,
                "transform": {
                    "location": {
                        "x": -2495.009521484375,
                        "y": 5065.3505859375,
                        "z": 377.30908203125
                    },
                    "rotation": {
                        "roll": -0.040161143988370895,
                        "pitch": -0.7733139991760254,
                        "yaw": -84.86980438232422
                    }
                },
                "velocity": {
                    "x": 0.8766326904296875,
                    "y": -9.626814842224121,
                    "z": -0.13042062520980835
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.772113800048828,
                "transform": {
                    "location": {
                        "x": -2496.659423828125,
                        "y": 5085.896484375,
                        "z": 377.6023254394531
                    },
                    "rotation": {
                        "roll": -0.016784608364105225,
                        "pitch": -0.7522838115692139,
                        "yaw": -86.02989959716797
                    }
                },
                "velocity": {
                    "x": 0.6846629977226257,
                    "y": -9.747098922729492,
                    "z": -0.1396828591823578
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.7197265625,
                        "y": 5103.2001953125,
                        "z": 377.8479919433594
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.908447265625,
                        "y": 5106.76220703125,
                        "z": 377.9009704589844
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 17.301481246948242,
                "transform": {
                    "location": {
                        "x": -2499.73974609375,
                        "y": 5081.1376953125,
                        "z": 377.53717041015625
                    },
                    "rotation": {
                        "roll": -0.060272179543972015,
                        "pitch": -0.6551517248153687,
                        "yaw": -85.70504760742188
                    }
                },
                "velocity": {
                    "x": 1.2666738033294678,
                    "y": -17.25335693359375,
                    "z": -0.24180448055267334
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 22.662525177001953,
                "transform": {
                    "location": {
                        "x": -2496.702392578125,
                        "y": 5047.82421875,
                        "z": 377.0780029296875
                    },
                    "rotation": {
                        "roll": -0.024047883227467537,
                        "pitch": -0.6910443305969238,
                        "yaw": -83.7390365600586
                    }
                },
                "velocity": {
                    "x": 2.43343448638916,
                    "y": -22.52970314025879,
                    "z": -0.284336119890213
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 23.57172966003418,
                "transform": {
                    "location": {
                        "x": -2493.62109375,
                        "y": 5022.388671875,
                        "z": 376.78253173828125
                    },
                    "rotation": {
                        "roll": 0.030770007520914078,
                        "pitch": -0.6842346787452698,
                        "yaw": -82.30565643310547
                    }
                },
                "velocity": {
                    "x": 3.130854368209839,
                    "y": -23.361440658569336,
                    "z": -0.25942280888557434
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.04150390625,
                        "y": 4946.263671875,
                        "z": 375.9337158203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.815797746181488,
                        "yaw": -83.83486938476562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.513671875,
                        "y": 4919.7333984375,
                        "z": 375.5384216308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9225194454193115,
                        "yaw": -85.58943939208984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 23.375789642333984,
                "transform": {
                    "location": {
                        "x": -2495.619873046875,
                        "y": 5011.33251953125,
                        "z": 376.66131591796875
                    },
                    "rotation": {
                        "roll": -0.1848144382238388,
                        "pitch": -0.4656071364879608,
                        "yaw": -81.67886352539062
                    }
                },
                "velocity": {
                    "x": 3.337865114212036,
                    "y": -23.13508415222168,
                    "z": -0.23252761363983154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.921977996826172,
                "transform": {
                    "location": {
                        "x": -2491.686279296875,
                        "y": 4984.9638671875,
                        "z": 376.41510009765625
                    },
                    "rotation": {
                        "roll": 0.00838168989866972,
                        "pitch": -0.5463536381721497,
                        "yaw": -81.49585723876953
                    }
                },
                "velocity": {
                    "x": 3.544269561767578,
                    "y": -23.656816482543945,
                    "z": -0.23295818269252777
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 24.430444717407227,
                "transform": {
                    "location": {
                        "x": -2488.046875,
                        "y": 4959.55029296875,
                        "z": 376.15728759765625
                    },
                    "rotation": {
                        "roll": 0.05420438572764397,
                        "pitch": -0.7456926703453064,
                        "yaw": -82.71050262451172
                    }
                },
                "velocity": {
                    "x": 3.1589159965515137,
                    "y": -24.223291397094727,
                    "z": -0.3163261413574219
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.2236328125,
                        "y": 4933.40673828125,
                        "z": 375.7536926269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.5795168876647949,
        "expert_target_speed": 5.921147988822377,
        "target_point": [
            38.05489687127997,
            4.560400625887534
        ],
        "target_point_next": [
            68.6548852246165,
            11.995229528099577
        ]
    },
    "445": {
        "acceleration": [
            0.3458976745605469,
            0.7202339172363281,
            -0.007087141275405884
        ],
        "angular_velocity": [
            1.1684602499008179,
            0.2111155390739441,
            3.0436275005340576
        ],
        "forward_vector": [
            0.1574966460466385,
            -0.9875027537345886,
            -0.005741683300584555
        ],
        "right_vector": [
            0.9875159859657288,
            0.1574779599905014,
            0.0035786887165158987
        ],
        "location": [
            -2490.44482421875,
            5020.431640625,
            376.7477722167969
        ],
        "rotation": [
            -0.2050475925207138,
            -0.328976035118103,
            -80.93822479248047
        ],
        "velocity": [
            1.73307466506958,
            -10.6847505569458,
            -0.11854316294193268
        ],
        "speed": 10.824391080280666,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.28061580657959,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2489.05078125,
                5014.30810546875,
                376.6764221191406
            ],
            "velocity": [
                1.3177392482757568,
                -9.155975341796875,
                -0.09515231102705002
            ],
            "speed_kmh": 33.30289449766176,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.032470703125,
                        "y": 5199.5068359375,
                        "z": 378.58929443359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04052734375,
                        "y": 5187.5068359375,
                        "z": 378.5460510253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.501708984375,
                        "y": 5121.42236328125,
                        "z": 378.0760803222656
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.001220703125,
                        "y": 5144.0068359375,
                        "z": 378.2933654785156
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0546875,
                        "y": 5165.0068359375,
                        "z": 378.4441833496094
                    },
                    "rotation": {
                        "roll": 1.3340479831924767e-08,
                        "pitch": -0.3619931638240814,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2500.79638671875,
                        "y": 5095.52099609375,
                        "z": 377.7414855957031
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.47119140625,
                        "y": 5120.455078125,
                        "z": 378.0676574707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.2861328125,
                        "y": 4934.38427734375,
                        "z": 375.7581481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.667058944702148,
                "transform": {
                    "location": {
                        "x": -2480.2275390625,
                        "y": 4952.3203125,
                        "z": 376.01275634765625
                    },
                    "rotation": {
                        "roll": 0.019033830612897873,
                        "pitch": -0.782985508441925,
                        "yaw": -83.20104217529297
                    }
                },
                "velocity": {
                    "x": 1.1325775384902954,
                    "y": -9.599593162536621,
                    "z": -0.1308017075061798
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.375344276428223,
                "transform": {
                    "location": {
                        "x": -2482.312744140625,
                        "y": 4968.46630859375,
                        "z": 376.2115478515625
                    },
                    "rotation": {
                        "roll": 0.0035509602166712284,
                        "pitch": -0.6413888931274414,
                        "yaw": -82.10978698730469
                    }
                },
                "velocity": {
                    "x": 1.2849749326705933,
                    "y": -9.286199569702148,
                    "z": -0.11140204221010208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615447998046875,
                "transform": {
                    "location": {
                        "x": -2486.3125,
                        "y": 4995.7138671875,
                        "z": 376.5113525390625
                    },
                    "rotation": {
                        "roll": 1.7849981304607354e-05,
                        "pitch": -0.5346671938896179,
                        "yaw": -81.52052307128906
                    }
                },
                "velocity": {
                    "x": 1.4151175022125244,
                    "y": -9.510310173034668,
                    "z": -0.09099769592285156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.25080394744873,
                "transform": {
                    "location": {
                        "x": -2489.05078125,
                        "y": 5014.30810546875,
                        "z": 376.6764221191406
                    },
                    "rotation": {
                        "roll": -0.004180909600108862,
                        "pitch": -0.5883798003196716,
                        "yaw": -81.86909484863281
                    }
                },
                "velocity": {
                    "x": 1.3177392482757568,
                    "y": -9.155975341796875,
                    "z": -0.09515231102705002
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.69962215423584,
                "transform": {
                    "location": {
                        "x": -2492.64892578125,
                        "y": 5042.22509765625,
                        "z": 377.00836181640625
                    },
                    "rotation": {
                        "roll": 0.00011281387560302392,
                        "pitch": -0.7254616618156433,
                        "yaw": -83.51649475097656
                    }
                },
                "velocity": {
                    "x": 1.0966614484786987,
                    "y": -9.63664436340332,
                    "z": -0.12285176664590836
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.726212501525879,
                "transform": {
                    "location": {
                        "x": -2494.80419921875,
                        "y": 5063.1103515625,
                        "z": 377.2798767089844
                    },
                    "rotation": {
                        "roll": -0.02899167314171791,
                        "pitch": -1.022581696510315,
                        "yaw": -84.73217010498047
                    }
                },
                "velocity": {
                    "x": 0.8046135306358337,
                    "y": -8.688271522521973,
                    "z": -0.1154651790857315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.889397621154785,
                "transform": {
                    "location": {
                        "x": -2496.493896484375,
                        "y": 5083.5625,
                        "z": 377.57122802734375
                    },
                    "rotation": {
                        "roll": -0.01599121280014515,
                        "pitch": -1.0321303606033325,
                        "yaw": -85.88975524902344
                    }
                },
                "velocity": {
                    "x": 0.6408849358558655,
                    "y": -8.865362167358398,
                    "z": -0.12651319801807404
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.59326171875,
                        "y": 5100.8349609375,
                        "z": 377.81500244140625
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.803955078125,
                        "y": 5104.68212890625,
                        "z": 377.8729553222656
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.179241180419922,
                "transform": {
                    "location": {
                        "x": -2499.404052734375,
                        "y": 5076.705078125,
                        "z": 377.47509765625
                    },
                    "rotation": {
                        "roll": -0.06216428801417351,
                        "pitch": -0.6288759708404541,
                        "yaw": -85.42366790771484
                    }
                },
                "velocity": {
                    "x": 1.42238187789917,
                    "y": -18.121761322021484,
                    "z": -0.2518402934074402
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.1209659576416,
                "transform": {
                    "location": {
                        "x": -2496.072265625,
                        "y": 5042.1337890625,
                        "z": 377.0060729980469
                    },
                    "rotation": {
                        "roll": -0.027160633355379105,
                        "pitch": -0.6880459189414978,
                        "yaw": -83.3812255859375
                    }
                },
                "velocity": {
                    "x": 2.620241403579712,
                    "y": -22.970172882080078,
                    "z": -0.29075750708580017
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.044286727905273,
                "transform": {
                    "location": {
                        "x": -2492.814208984375,
                        "y": 5016.48876953125,
                        "z": 376.7185974121094
                    },
                    "rotation": {
                        "roll": 0.03163221850991249,
                        "pitch": -0.6504525542259216,
                        "yaw": -81.94749450683594
                    }
                },
                "velocity": {
                    "x": 3.3356027603149414,
                    "y": -23.810470581054688,
                    "z": -0.2508580684661865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2482.372802734375,
                        "y": 4940.0517578125,
                        "z": 375.8453369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.04345703125,
                        "y": 4913.50146484375,
                        "z": 375.4377746582031
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 23.409090042114258,
                "transform": {
                    "location": {
                        "x": -2494.772705078125,
                        "y": 5005.54296875,
                        "z": 376.6048278808594
                    },
                    "rotation": {
                        "roll": -0.1549987941980362,
                        "pitch": -0.48138487339019775,
                        "yaw": -81.48645782470703
                    }
                },
                "velocity": {
                    "x": 3.4316985607147217,
                    "y": -23.15513801574707,
                    "z": -0.22031065821647644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.869787216186523,
                "transform": {
                    "location": {
                        "x": -2490.8046875,
                        "y": 4979.056640625,
                        "z": 376.3547668457031
                    },
                    "rotation": {
                        "roll": 0.019251670688390732,
                        "pitch": -0.6137676239013672,
                        "yaw": -81.5747299194336
                    }
                },
                "velocity": {
                    "x": 3.506038188934326,
                    "y": -23.60955047607422,
                    "z": -0.25212225317955017
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 24.421445846557617,
                "transform": {
                    "location": {
                        "x": -2487.27880859375,
                        "y": 4953.49365234375,
                        "z": 376.07611083984375
                    },
                    "rotation": {
                        "roll": 0.06561919301748276,
                        "pitch": -0.7820429801940918,
                        "yaw": -83.2104263305664
                    }
                },
                "velocity": {
                    "x": 2.957172393798828,
                    "y": -24.239423751831055,
                    "z": -0.3354083299636841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.648681640625,
                        "y": 4927.18359375,
                        "z": 375.65966796875
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.5530642867088318,
        "expert_target_speed": 4.857580047939005,
        "target_point": [
            35.43378255435245,
            4.0075621104017785
        ],
        "target_point_next": [
            66.14058351061257,
            10.988131074470633
        ]
    },
    "450": {
        "acceleration": [
            -1.6158342361450195,
            11.08041763305664,
            0.12035414576530457
        ],
        "angular_velocity": [
            3.0307955741882324,
            0.6986590623855591,
            1.6733722686767578
        ],
        "forward_vector": [
            0.16719502210617065,
            -0.985823929309845,
            -0.014032259583473206
        ],
        "right_vector": [
            0.9859235882759094,
            0.16716845333576202,
            0.003053807420656085
        ],
        "location": [
            -2490.0234375,
            5017.892578125,
            376.72198486328125
        ],
        "rotation": [
            -0.1749877780675888,
            -0.8040156960487366,
            -80.37427520751953
        ],
        "velocity": [
            1.6037616729736328,
            -9.379913330078125,
            -0.10072682052850723
        ],
        "speed": 9.516029927626146,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.021435737609863,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2488.720703125,
                5012.01416015625,
                376.65289306640625
            ],
            "velocity": [
                1.3281621932983398,
                -9.194565773010254,
                -0.09165506064891815
            ],
            "speed_kmh": 33.44561884014339,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.034423828125,
                        "y": 5197.0068359375,
                        "z": 378.580810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0419921875,
                        "y": 5185.0068359375,
                        "z": 378.53662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.42041015625,
                        "y": 5119.1572265625,
                        "z": 378.0499267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.9736328125,
                        "y": 5141.5068359375,
                        "z": 378.27264404296875
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.056396484375,
                        "y": 5162.5068359375,
                        "z": 378.42919921875
                    },
                    "rotation": {
                        "roll": 1.3340479831924767e-08,
                        "pitch": -0.3619931638240814,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2500.51318359375,
                        "y": 5090.90966796875,
                        "z": 377.6744689941406
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.396728515625,
                        "y": 5118.373046875,
                        "z": 378.0438232421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3720,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.05078125,
                        "y": 4931.89501953125,
                        "z": 375.72113037109375
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.665459632873535,
                "transform": {
                    "location": {
                        "x": -2479.947509765625,
                        "y": 4949.9140625,
                        "z": 375.97900390625
                    },
                    "rotation": {
                        "roll": 0.015867525711655617,
                        "pitch": -0.8027930855751038,
                        "yaw": -83.42745971679688
                    }
                },
                "velocity": {
                    "x": 1.1069000959396362,
                    "y": -9.600916862487793,
                    "z": -0.13519082963466644
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.265661239624023,
                "transform": {
                    "location": {
                        "x": -2481.997314453125,
                        "y": 4966.17236328125,
                        "z": 376.18389892578125
                    },
                    "rotation": {
                        "roll": 0.00529856514185667,
                        "pitch": -0.6978745460510254,
                        "yaw": -82.1964340209961
                    }
                },
                "velocity": {
                    "x": 1.2325080633163452,
                    "y": -9.18264102935791,
                    "z": -0.11184348911046982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615296363830566,
                "transform": {
                    "location": {
                        "x": -2485.958251953125,
                        "y": 4993.3359375,
                        "z": 376.4888610839844
                    },
                    "rotation": {
                        "roll": -0.0005798442871309817,
                        "pitch": -0.5351521372795105,
                        "yaw": -81.5405044555664
                    }
                },
                "velocity": {
                    "x": 1.4172425270080566,
                    "y": -9.509838104248047,
                    "z": -0.09124529361724854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.290450096130371,
                "transform": {
                    "location": {
                        "x": -2488.720703125,
                        "y": 5012.01416015625,
                        "z": 376.65289306640625
                    },
                    "rotation": {
                        "roll": -0.0017394913593307137,
                        "pitch": -0.5752248167991638,
                        "yaw": -81.78502655029297
                    }
                },
                "velocity": {
                    "x": 1.3281621932983398,
                    "y": -9.194565773010254,
                    "z": -0.09165506064891815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.67315673828125,
                "transform": {
                    "location": {
                        "x": -2492.370361328125,
                        "y": 5039.8193359375,
                        "z": 376.97772216796875
                    },
                    "rotation": {
                        "roll": -0.0029907135758548975,
                        "pitch": -0.7233306765556335,
                        "yaw": -83.32439422607422
                    }
                },
                "velocity": {
                    "x": 1.132866382598877,
                    "y": -9.605813026428223,
                    "z": -0.12221664190292358
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.189295768737793,
                "transform": {
                    "location": {
                        "x": -2494.5947265625,
                        "y": 5060.86865234375,
                        "z": 377.2491455078125
                    },
                    "rotation": {
                        "roll": -0.03750608116388321,
                        "pitch": -0.7439578175544739,
                        "yaw": -84.62693786621094
                    }
                },
                "velocity": {
                    "x": 0.8758188486099243,
                    "y": -9.146674156188965,
                    "z": -0.1202145665884018
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.568361282348633,
                "transform": {
                    "location": {
                        "x": -2496.337646484375,
                        "y": 5081.41357421875,
                        "z": 377.5401611328125
                    },
                    "rotation": {
                        "roll": -0.011108428239822388,
                        "pitch": -0.9666083455085754,
                        "yaw": -85.76689910888672
                    }
                },
                "velocity": {
                    "x": 0.6400579214096069,
                    "y": -8.543587684631348,
                    "z": -0.11937214434146881
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.47314453125,
                        "y": 5098.673828125,
                        "z": 377.7840270996094
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.698486328125,
                        "y": 5102.60205078125,
                        "z": 377.8448486328125
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.9326229095459,
                "transform": {
                    "location": {
                        "x": -2499.03076171875,
                        "y": 5072.07666015625,
                        "z": 377.4110107421875
                    },
                    "rotation": {
                        "roll": -0.0613708533346653,
                        "pitch": -0.6061041355133057,
                        "yaw": -85.146728515625
                    }
                },
                "velocity": {
                    "x": 1.5721290111541748,
                    "y": -18.865474700927734,
                    "z": -0.2578423321247101
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.545211791992188,
                "transform": {
                    "location": {
                        "x": -2495.395263671875,
                        "y": 5036.33642578125,
                        "z": 376.93280029296875
                    },
                    "rotation": {
                        "roll": -0.026824895292520523,
                        "pitch": -0.6845693588256836,
                        "yaw": -83.0394287109375
                    }
                },
                "velocity": {
                    "x": 2.8054113388061523,
                    "y": -23.375638961791992,
                    "z": -0.2935475707054138
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.278432846069336,
                "transform": {
                    "location": {
                        "x": -2491.96044921875,
                        "y": 5010.49853515625,
                        "z": 376.6569519042969
                    },
                    "rotation": {
                        "roll": 0.029396969825029373,
                        "pitch": -0.5972590446472168,
                        "yaw": -81.65729522705078
                    }
                },
                "velocity": {
                    "x": 3.4917194843292236,
                    "y": -24.024852752685547,
                    "z": -0.2381294220685959
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.7490234375,
                        "y": 4933.83642578125,
                        "z": 375.75506591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.622314453125,
                        "y": 4907.2666015625,
                        "z": 375.3336486816406
                    },
                    "rotation": {
                        "roll": 1.0673699080143706e-07,
                        "pitch": -0.969907283782959,
                        "yaw": -86.29124450683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 23.354408264160156,
                "transform": {
                    "location": {
                        "x": -2493.91015625,
                        "y": 4999.76220703125,
                        "z": 376.55078125
                    },
                    "rotation": {
                        "roll": -0.1055297926068306,
                        "pitch": -0.522215723991394,
                        "yaw": -81.42107391357422
                    }
                },
                "velocity": {
                    "x": 3.467371702194214,
                    "y": -23.094568252563477,
                    "z": -0.21611888706684113
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.851409912109375,
                "transform": {
                    "location": {
                        "x": -2489.936767578125,
                        "y": 4973.15673828125,
                        "z": 376.2900390625
                    },
                    "rotation": {
                        "roll": 0.04474254697561264,
                        "pitch": -0.6502066254615784,
                        "yaw": -81.78330993652344
                    }
                },
                "velocity": {
                    "x": 3.435288906097412,
                    "y": -23.601215362548828,
                    "z": -0.2668200135231018
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 24.424327850341797,
                "transform": {
                    "location": {
                        "x": -2486.562255859375,
                        "y": 4947.4306640625,
                        "z": 375.9905700683594
                    },
                    "rotation": {
                        "roll": 0.06918030977249146,
                        "pitch": -0.8162826895713806,
                        "yaw": -83.72090148925781
                    }
                },
                "velocity": {
                    "x": 2.7492728233337402,
                    "y": -24.26660919189453,
                    "z": -0.34783294796943665
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.123291015625,
                        "y": 4920.9560546875,
                        "z": 375.5622863769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9225194454193115,
                        "yaw": -85.58943939208984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6492922902107239,
        "expert_target_speed": 3.6068318903516055,
        "target_point": [
            32.897735643258436,
            3.667708189526226
        ],
        "target_point_next": [
            63.67175708191891,
            10.3456998428876
        ]
    },
    "455": {
        "acceleration": [
            -0.8650326728820801,
            5.697879791259766,
            0.06348967552185059
        ],
        "angular_velocity": [
            0.25478488206863403,
            0.20656810700893402,
            0.7840108871459961
        ],
        "forward_vector": [
            0.1717219203710556,
            -0.9848994612693787,
            -0.022011883556842804
        ],
        "right_vector": [
            0.9851438999176025,
            0.1717183142900467,
            0.0020677074790000916
        ],
        "location": [
            -2489.6669921875,
            5015.8310546875,
            376.7017822265625
        ],
        "rotation": [
            -0.11849969625473022,
            -1.2612899541854858,
            -80.10962677001953
        ],
        "velocity": [
            1.3084298372268677,
            -7.436134338378906,
            -0.07825976610183716
        ],
        "speed": 7.55036969540985,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.243398189544678,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2488.386962890625,
                5009.720703125,
                376.6300048828125
            ],
            "velocity": [
                1.3437954187393188,
                -9.151983261108398,
                -0.09111738204956055
            ],
            "speed_kmh": 33.3020210207703,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.035888671875,
                        "y": 5194.5068359375,
                        "z": 378.5718994140625
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.043701171875,
                        "y": 5182.5068359375,
                        "z": 378.5272216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.338134765625,
                        "y": 5116.8623046875,
                        "z": 378.02349853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.9345703125,
                        "y": 5139.0068359375,
                        "z": 378.2509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05810546875,
                        "y": 5160.0068359375,
                        "z": 378.4133605957031
                    },
                    "rotation": {
                        "roll": -1.3340534898986789e-08,
                        "pitch": -0.39864397048950195,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2500.19287109375,
                        "y": 5086.11474609375,
                        "z": 377.6053771972656
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.32080078125,
                        "y": 5116.2900390625,
                        "z": 378.0198669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.61607551574707,
                "transform": {
                    "location": {
                        "x": -2479.674560546875,
                        "y": 4947.52294921875,
                        "z": 375.9451904296875
                    },
                    "rotation": {
                        "roll": 0.017458727583289146,
                        "pitch": -0.8180516958236694,
                        "yaw": -83.53627014160156
                    }
                },
                "velocity": {
                    "x": 1.0707653760910034,
                    "y": -9.555322647094727,
                    "z": -0.13481439650058746
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.325758934020996,
                "transform": {
                    "location": {
                        "x": -2481.68798828125,
                        "y": 4963.86181640625,
                        "z": 376.1553955078125
                    },
                    "rotation": {
                        "roll": 0.002791677601635456,
                        "pitch": -0.7055926322937012,
                        "yaw": -82.43347930908203
                    }
                },
                "velocity": {
                    "x": 1.2239776849746704,
                    "y": -9.244368553161621,
                    "z": -0.11533237248659134
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.614923477172852,
                "transform": {
                    "location": {
                        "x": -2485.60400390625,
                        "y": 4990.95849609375,
                        "z": 376.4664001464844
                    },
                    "rotation": {
                        "roll": -0.0004882997018285096,
                        "pitch": -0.5344144701957703,
                        "yaw": -81.50960540771484
                    }
                },
                "velocity": {
                    "x": 1.4169180393218994,
                    "y": -9.509514808654785,
                    "z": -0.0906335785984993
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.250561714172363,
                "transform": {
                    "location": {
                        "x": -2488.386962890625,
                        "y": 5009.720703125,
                        "z": 376.6300048828125
                    },
                    "rotation": {
                        "roll": -0.0019531009020283818,
                        "pitch": -0.5617693662643433,
                        "yaw": -81.68910217285156
                    }
                },
                "velocity": {
                    "x": 1.3437954187393188,
                    "y": -9.151983261108398,
                    "z": -0.09111738204956055
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.699524879455566,
                "transform": {
                    "location": {
                        "x": -2492.085693359375,
                        "y": 5037.41455078125,
                        "z": 376.9472961425781
                    },
                    "rotation": {
                        "roll": -0.0006713856128044426,
                        "pitch": -0.7182899713516235,
                        "yaw": -83.19074249267578
                    }
                },
                "velocity": {
                    "x": 1.1506729125976562,
                    "y": -9.63025188446045,
                    "z": -0.12237288057804108
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.23554801940918,
                "transform": {
                    "location": {
                        "x": -2494.357666015625,
                        "y": 5058.416015625,
                        "z": 377.2157287597656
                    },
                    "rotation": {
                        "roll": -0.03363032639026642,
                        "pitch": -0.43459808826446533,
                        "yaw": -84.45342254638672
                    }
                },
                "velocity": {
                    "x": 0.9939267039299011,
                    "y": -10.186287879943848,
                    "z": -0.13446444272994995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.36284351348877,
                "transform": {
                    "location": {
                        "x": -2496.168701171875,
                        "y": 5079.18896484375,
                        "z": 377.5064697265625
                    },
                    "rotation": {
                        "roll": -0.016174307093024254,
                        "pitch": -0.6474335789680481,
                        "yaw": -85.63235473632812
                    }
                },
                "velocity": {
                    "x": 0.7214211225509644,
                    "y": -9.334092140197754,
                    "z": -0.13082385063171387
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.349609375,
                        "y": 5096.47216796875,
                        "z": 377.75244140625
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.587646484375,
                        "y": 5100.52197265625,
                        "z": 377.81591796875
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 19.675127029418945,
                "transform": {
                    "location": {
                        "x": -2498.6201171875,
                        "y": 5067.2646484375,
                        "z": 377.3457336425781
                    },
                    "rotation": {
                        "roll": -0.06198125705122948,
                        "pitch": -0.6019582152366638,
                        "yaw": -84.87378692626953
                    }
                },
                "velocity": {
                    "x": 1.7251017093658447,
                    "y": -19.597578048706055,
                    "z": -0.26383283734321594
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.721166610717773,
                "transform": {
                    "location": {
                        "x": -2494.675048828125,
                        "y": 5030.4638671875,
                        "z": 376.8608093261719
                    },
                    "rotation": {
                        "roll": -0.025360088795423508,
                        "pitch": -0.6644339561462402,
                        "yaw": -82.72283172607422
                    }
                },
                "velocity": {
                    "x": 2.959627389907837,
                    "y": -23.534143447875977,
                    "z": -0.2800089716911316
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 24.020891189575195,
                "transform": {
                    "location": {
                        "x": -2491.07958984375,
                        "y": 5004.5068359375,
                        "z": 376.5986633300781
                    },
                    "rotation": {
                        "roll": 0.020020144060254097,
                        "pitch": -0.5231583118438721,
                        "yaw": -81.4876937866211
                    }
                },
                "velocity": {
                    "x": 3.5318901538848877,
                    "y": -23.758758544921875,
                    "z": -0.22430239617824554
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2481.225341796875,
                        "y": 4928.1826171875,
                        "z": 375.6700439453125
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 23.3273868560791,
                "transform": {
                    "location": {
                        "x": -2493.042236328125,
                        "y": 4993.994140625,
                        "z": 376.4965515136719
                    },
                    "rotation": {
                        "roll": -0.05300900712609291,
                        "pitch": -0.5376246571540833,
                        "yaw": -81.42633056640625
                    }
                },
                "velocity": {
                    "x": 3.474788188934326,
                    "y": -23.06612205505371,
                    "z": -0.21655525267124176
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 24.05326271057129,
                "transform": {
                    "location": {
                        "x": -2489.0908203125,
                        "y": 4967.240234375,
                        "z": 376.22064208984375
                    },
                    "rotation": {
                        "roll": 0.07970336079597473,
                        "pitch": -0.6512380242347717,
                        "yaw": -82.14850616455078
                    }
                },
                "velocity": {
                    "x": 3.3413543701171875,
                    "y": -23.81829833984375,
                    "z": -0.2888975739479065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.998046875,
                        "y": 4941.2099609375,
                        "z": 375.87152099609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.6435546875,
                        "y": 4914.724609375,
                        "z": 375.4618225097656
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.8277127146720886,
        "expert_target_speed": 3.826618736842395,
        "target_point": [
            30.82221446495732,
            3.518674688061992
        ],
        "target_point_next": [
            61.626750344591294,
            10.054463643486004
        ]
    },
    "460": {
        "acceleration": [
            -0.9013819694519043,
            5.59046745300293,
            0.06121233105659485
        ],
        "angular_velocity": [
            -0.14038695394992828,
            0.11856838315725327,
            0.6730705499649048
        ],
        "forward_vector": [
            0.1746770143508911,
            -0.9844382405281067,
            -0.01921726018190384
        ],
        "right_vector": [
            0.9846237897872925,
            0.1746826320886612,
            0.0013995002955198288
        ],
        "location": [
            -2489.3623046875,
            5014.11181640625,
            376.6833190917969
        ],
        "rotation": [
            -0.08020029217004776,
            -1.1011357307434082,
            -79.93826293945312
        ],
        "velocity": [
            1.1625670194625854,
            -6.476622104644775,
            -0.06655898690223694
        ],
        "speed": 6.580136469794182,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.812531471252441,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2488.05029296875,
                5007.42724609375,
                376.6076354980469
            ],
            "velocity": [
                1.3531311750411987,
                -9.191749572753906,
                -0.08818696439266205
            ],
            "speed_kmh": 33.44843695286961,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.037841796875,
                        "y": 5192.0068359375,
                        "z": 378.5628356933594
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.045166015625,
                        "y": 5180.0068359375,
                        "z": 378.5174255371094
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.24169921875,
                        "y": 5114.47216796875,
                        "z": 377.9943542480469
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.89453125,
                        "y": 5136.5068359375,
                        "z": 378.2290954589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.06005859375,
                        "y": 5157.5068359375,
                        "z": 378.3968200683594
                    },
                    "rotation": {
                        "roll": -1.3340534898986789e-08,
                        "pitch": -0.39864397048950195,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 19.35391616821289,
                "transform": {
                    "location": {
                        "x": -2499.840576171875,
                        "y": 5081.25244140625,
                        "z": 377.5384826660156
                    },
                    "rotation": {
                        "roll": -0.054351843893527985,
                        "pitch": -0.8792092204093933,
                        "yaw": -85.64229583740234
                    }
                },
                "velocity": {
                    "x": 1.458199381828308,
                    "y": -19.29718780517578,
                    "z": -0.2573226988315582
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.23583984375,
                        "y": 5114.20654296875,
                        "z": 377.9945983886719
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.021484375,
                        "y": 5217.00537109375,
                        "z": 378.70367431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1530713587999344,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.653063774108887,
                "transform": {
                    "location": {
                        "x": -2479.41015625,
                        "y": 4945.12841796875,
                        "z": 375.9112548828125
                    },
                    "rotation": {
                        "roll": 0.014896257780492306,
                        "pitch": -0.8085646033287048,
                        "yaw": -83.7545166015625
                    }
                },
                "velocity": {
                    "x": 1.0503915548324585,
                    "y": -9.594799041748047,
                    "z": -0.13468125462532043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.287063598632812,
                "transform": {
                    "location": {
                        "x": -2481.38427734375,
                        "y": 4961.5625,
                        "z": 376.1262512207031
                    },
                    "rotation": {
                        "roll": 0.0022077460307627916,
                        "pitch": -0.7334871292114258,
                        "yaw": -82.47981262207031
                    }
                },
                "velocity": {
                    "x": 1.194787621498108,
                    "y": -9.209113121032715,
                    "z": -0.11947455257177353
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615877151489258,
                "transform": {
                    "location": {
                        "x": -2485.25,
                        "y": 4988.5810546875,
                        "z": 376.4433898925781
                    },
                    "rotation": {
                        "roll": 0.0006644001114182174,
                        "pitch": -0.5520910024642944,
                        "yaw": -81.54290771484375
                    }
                },
                "velocity": {
                    "x": 1.416820764541626,
                    "y": -9.510479927062988,
                    "z": -0.09212283790111542
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.291232109069824,
                "transform": {
                    "location": {
                        "x": -2488.05029296875,
                        "y": 5007.42724609375,
                        "z": 376.6076354980469
                    },
                    "rotation": {
                        "roll": 0.000680781900882721,
                        "pitch": -0.5454042553901672,
                        "yaw": -81.63249969482422
                    }
                },
                "velocity": {
                    "x": 1.3531311750411987,
                    "y": -9.191749572753906,
                    "z": -0.08818696439266205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.779743194580078,
                "transform": {
                    "location": {
                        "x": -2491.80712890625,
                        "y": 5035.09814453125,
                        "z": 376.9184265136719
                    },
                    "rotation": {
                        "roll": -0.0021057864651083946,
                        "pitch": -0.72234708070755,
                        "yaw": -83.09050750732422
                    }
                },
                "velocity": {
                    "x": 1.065411925315857,
                    "y": -8.714204788208008,
                    "z": -0.10686708986759186
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.434690475463867,
                "transform": {
                    "location": {
                        "x": -2494.1181640625,
                        "y": 5055.9794921875,
                        "z": 377.1853942871094
                    },
                    "rotation": {
                        "roll": -0.04129023849964142,
                        "pitch": -0.8375518918037415,
                        "yaw": -84.3370361328125
                    }
                },
                "velocity": {
                    "x": 0.9451237320899963,
                    "y": -9.38642406463623,
                    "z": -0.1231766939163208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.941705703735352,
                "transform": {
                    "location": {
                        "x": -2495.979248046875,
                        "y": 5076.74267578125,
                        "z": 377.4716796875
                    },
                    "rotation": {
                        "roll": -0.0074768103659152985,
                        "pitch": -0.5886803269386292,
                        "yaw": -85.51433563232422
                    }
                },
                "velocity": {
                    "x": 0.7762528657913208,
                    "y": -9.910396575927734,
                    "z": -0.13778077065944672
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.200927734375,
                        "y": 5094.04248046875,
                        "z": 377.7169189453125
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.470458984375,
                        "y": 5098.44189453125,
                        "z": 377.7863464355469
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 20.422029495239258,
                "transform": {
                    "location": {
                        "x": -2498.170166015625,
                        "y": 5062.26953125,
                        "z": 377.2789306640625
                    },
                    "rotation": {
                        "roll": -0.0675048679113388,
                        "pitch": -0.5891106128692627,
                        "yaw": -84.58309936523438
                    }
                },
                "velocity": {
                    "x": 1.8886747360229492,
                    "y": -20.332731246948242,
                    "z": -0.2688828110694885
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 23.141845703125,
                "transform": {
                    "location": {
                        "x": -2493.9248046875,
                        "y": 5024.62744140625,
                        "z": 376.79296875
                    },
                    "rotation": {
                        "roll": -0.02682492695748806,
                        "pitch": -0.6712914705276489,
                        "yaw": -82.37574768066406
                    }
                },
                "velocity": {
                    "x": 3.025862455368042,
                    "y": -22.941696166992188,
                    "z": -0.2604491412639618
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 22.489652633666992,
                "transform": {
                    "location": {
                        "x": -2490.22021484375,
                        "y": 4998.755859375,
                        "z": 376.543701171875
                    },
                    "rotation": {
                        "roll": 0.008775844238698483,
                        "pitch": -0.41119101643562317,
                        "yaw": -81.43328094482422
                    }
                },
                "velocity": {
                    "x": 3.3380918502807617,
                    "y": -22.239559173583984,
                    "z": -0.2089850902557373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.895263671875,
                        "y": 4924.3828125,
                        "z": 375.6116027832031
                    },
                    "rotation": {
                        "roll": 5.3367415375760174e-08,
                        "pitch": -0.898832380771637,
                        "yaw": -85.23853302001953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 23.509986877441406,
                "transform": {
                    "location": {
                        "x": -2492.171875,
                        "y": 4988.20947265625,
                        "z": 376.4416198730469
                    },
                    "rotation": {
                        "roll": -0.013763371855020523,
                        "pitch": -0.4951203763484955,
                        "yaw": -81.47015380859375
                    }
                },
                "velocity": {
                    "x": 3.4924211502075195,
                    "y": -23.24806785583496,
                    "z": -0.2231040596961975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 24.417179107666016,
                "transform": {
                    "location": {
                        "x": -2488.269287109375,
                        "y": 4961.22998046875,
                        "z": 376.1455383300781
                    },
                    "rotation": {
                        "roll": 0.10908439010381699,
                        "pitch": -0.6614901423454285,
                        "yaw": -82.58338928222656
                    }
                },
                "velocity": {
                    "x": 3.227742910385132,
                    "y": -24.20090103149414,
                    "z": -0.31096765398979187
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.379150390625,
                        "y": 4934.994140625,
                        "z": 375.7774963378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.209716796875,
                        "y": 4908.490234375,
                        "z": 375.3582763671875
                    },
                    "rotation": {
                        "roll": 1.0673699080143706e-07,
                        "pitch": -0.969907283782959,
                        "yaw": -86.29124450683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9359232187271118,
        "expert_target_speed": 4.7397158337967245,
        "target_point": [
            29.08657373955538,
            3.4268256176294196
        ],
        "target_point_next": [
            59.910522302555336,
            9.870439744424408
        ]
    },
    "465": {
        "acceleration": [
            0.14392852783203125,
            0.06765365600585938,
            0.021369829773902893
        ],
        "angular_velocity": [
            -1.4040197134017944,
            -0.28206199407577515,
            0.9472305178642273
        ],
        "forward_vector": [
            0.17802897095680237,
            -0.9838646054267883,
            -0.017779367044568062
        ],
        "right_vector": [
            0.9840232133865356,
            0.1780363768339157,
            0.0011774635640904307
        ],
        "location": [
            -2489.09619140625,
            5012.64306640625,
            376.6678771972656
        ],
        "rotation": [
            -0.0674743726849556,
            -1.0187363624572754,
            -79.7433853149414
        ],
        "velocity": [
            1.0449579954147339,
            -5.668791770935059,
            -0.057384636253118515
        ],
        "speed": 5.764298513644329,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.635282039642334,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2487.7119140625,
                5005.134765625,
                376.5858459472656
            ],
            "velocity": [
                1.3545206785202026,
                -9.150699615478516,
                -0.08774013072252274
            ],
            "speed_kmh": 33.30296316472882,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0390625,
                        "y": 5189.5068359375,
                        "z": 378.5535583496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.046875,
                        "y": 5177.5068359375,
                        "z": 378.5071716308594
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.141357421875,
                        "y": 5112.0302734375,
                        "z": 377.9645690917969
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.8427734375,
                        "y": 5134.0068359375,
                        "z": 378.2056884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.06005859375,
                        "y": 5155.0068359375,
                        "z": 378.3793640136719
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 19.341934204101562,
                "transform": {
                    "location": {
                        "x": -2499.463623046875,
                        "y": 5076.43017578125,
                        "z": 377.47320556640625
                    },
                    "rotation": {
                        "roll": -0.0979919359087944,
                        "pitch": -0.8153333067893982,
                        "yaw": -85.17049407958984
                    }
                },
                "velocity": {
                    "x": 1.5831677913665771,
                    "y": -19.27524185180664,
                    "z": -0.26285842061042786
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.15087890625,
                        "y": 5112.12353515625,
                        "z": 377.9693603515625
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.022705078125,
                        "y": 5214.5068359375,
                        "z": 378.6490783691406
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.129150390625,
                        "y": 4942.6796875,
                        "z": 375.8775634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.403972625732422,
                "transform": {
                    "location": {
                        "x": -2481.085205078125,
                        "y": 4959.24658203125,
                        "z": 376.09619140625
                    },
                    "rotation": {
                        "roll": 0.0022249582689255476,
                        "pitch": -0.7372710704803467,
                        "yaw": -82.70149993896484
                    }
                },
                "velocity": {
                    "x": 1.1890316009521484,
                    "y": -9.327718734741211,
                    "z": -0.12069413810968399
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615399360656738,
                "transform": {
                    "location": {
                        "x": -2484.8955078125,
                        "y": 4986.20361328125,
                        "z": 376.4200744628906
                    },
                    "rotation": {
                        "roll": -0.0008545347373001277,
                        "pitch": -0.5594744086265564,
                        "yaw": -81.50651550292969
                    }
                },
                "velocity": {
                    "x": 1.4173377752304077,
                    "y": -9.509909629821777,
                    "z": -0.09320985525846481
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.250823020935059,
                "transform": {
                    "location": {
                        "x": -2487.7119140625,
                        "y": 5005.134765625,
                        "z": 376.5858459472656
                    },
                    "rotation": {
                        "roll": -0.0005798177444376051,
                        "pitch": -0.5367435812950134,
                        "yaw": -81.59043884277344
                    }
                },
                "velocity": {
                    "x": 1.3545206785202026,
                    "y": -9.150699615478516,
                    "z": -0.08774013072252274
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.669216632843018,
                "transform": {
                    "location": {
                        "x": -2491.55810546875,
                        "y": 5033.0703125,
                        "z": 376.89361572265625
                    },
                    "rotation": {
                        "roll": -0.000671412271913141,
                        "pitch": -0.7182285189628601,
                        "yaw": -82.95572662353516
                    }
                },
                "velocity": {
                    "x": 0.9454959630966187,
                    "y": -7.610145092010498,
                    "z": -0.09280774742364883
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.633131980895996,
                "transform": {
                    "location": {
                        "x": -2493.8916015625,
                        "y": 5053.74853515625,
                        "z": 377.15728759765625
                    },
                    "rotation": {
                        "roll": -0.032226596027612686,
                        "pitch": -1.0270076990127563,
                        "yaw": -84.17115020751953
                    }
                },
                "velocity": {
                    "x": 0.8811488151550293,
                    "y": -8.587328910827637,
                    "z": -0.11100786924362183
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.01705265045166,
                "transform": {
                    "location": {
                        "x": -2495.7900390625,
                        "y": 5074.3759765625,
                        "z": 377.44189453125
                    },
                    "rotation": {
                        "roll": -0.018432587385177612,
                        "pitch": -0.962885856628418,
                        "yaw": -85.3801040649414
                    }
                },
                "velocity": {
                    "x": 0.7339887022972107,
                    "y": -8.9862642288208,
                    "z": -0.12469497323036194
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.052734375,
                        "y": 5091.6416015625,
                        "z": 377.68182373046875
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.35400390625,
                        "y": 5096.36181640625,
                        "z": 377.7567138671875
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 21.17327880859375,
                "transform": {
                    "location": {
                        "x": -2497.677490234375,
                        "y": 5057.09033203125,
                        "z": 377.2107849121094
                    },
                    "rotation": {
                        "roll": -0.0748901218175888,
                        "pitch": -0.5735173225402832,
                        "yaw": -84.27275085449219
                    }
                },
                "velocity": {
                    "x": 2.065305709838867,
                    "y": -21.070526123046875,
                    "z": -0.2741914391517639
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 21.60697364807129,
                "transform": {
                    "location": {
                        "x": -2493.17919921875,
                        "y": 5019.08544921875,
                        "z": 376.7320251464844
                    },
                    "rotation": {
                        "roll": -0.02908325381577015,
                        "pitch": -0.6967748999595642,
                        "yaw": -82.00151062011719
                    }
                },
                "velocity": {
                    "x": 2.95628023147583,
                    "y": -21.40252685546875,
                    "z": -0.23148497939109802
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 20.843584060668945,
                "transform": {
                    "location": {
                        "x": -2489.416259765625,
                        "y": 4993.408203125,
                        "z": 376.49310302734375
                    },
                    "rotation": {
                        "roll": 0.002779188798740506,
                        "pitch": -0.3834536373615265,
                        "yaw": -81.441650390625
                    }
                },
                "velocity": {
                    "x": 3.098412036895752,
                    "y": -20.611074447631836,
                    "z": -0.19615136086940765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.685546875,
                        "y": 4921.87744140625,
                        "z": 375.5724182128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9225194454193115,
                        "yaw": -85.58943939208984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 23.818674087524414,
                "transform": {
                    "location": {
                        "x": -2491.295166015625,
                        "y": 4982.35498046875,
                        "z": 376.3839416503906
                    },
                    "rotation": {
                        "roll": 0.014063205569982529,
                        "pitch": -0.4565161466598511,
                        "yaw": -81.52825164794922
                    }
                },
                "velocity": {
                    "x": 3.517080545425415,
                    "y": -23.55636215209961,
                    "z": -0.23901483416557312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 24.42179298400879,
                "transform": {
                    "location": {
                        "x": -2487.486572265625,
                        "y": 4955.16748046875,
                        "z": 376.0655517578125
                    },
                    "rotation": {
                        "roll": 0.1348179578781128,
                        "pitch": -0.7536635398864746,
                        "yaw": -83.06481170654297
                    }
                },
                "velocity": {
                    "x": 3.0332014560699463,
                    "y": -24.230514526367188,
                    "z": -0.32525768876075745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.819091796875,
                        "y": 4929.06494140625,
                        "z": 375.6883850097656
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3700,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.052001953125,
                        "y": 4905.99560546875,
                        "z": 375.3158874511719
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.982531726360321,
        "expert_target_speed": 4.930270858924717,
        "target_point": [
            27.605399039414117,
            3.3275270672265727
        ],
        "target_point_next": [
            58.45108759073687,
            9.666254528184005
        ]
    },
    "470": {
        "acceleration": [
            0.8144879341125488,
            0.5180835723876953,
            -0.010969415307044983
        ],
        "angular_velocity": [
            -0.43786323070526123,
            -0.738531768321991,
            5.465177536010742
        ],
        "forward_vector": [
            0.1905232071876526,
            -0.9816114902496338,
            -0.011818848550319672
        ],
        "right_vector": [
            0.9816821813583374,
            0.19049687683582306,
            0.003325515193864703
        ],
        "location": [
            -2488.8134765625,
            5011.19287109375,
            376.6520080566406
        ],
        "rotation": [
            -0.19055165350437164,
            -0.6771858930587769,
            -79.01590728759766
        ],
        "velocity": [
            1.2417641878128052,
            -5.834205150604248,
            -0.05923232436180115
        ],
        "speed": 5.964891284631392,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.474488258361816,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2487.372314453125,
                5002.84228515625,
                376.5641784667969
            ],
            "velocity": [
                1.3620857000350952,
                -9.189870834350586,
                -0.0881347730755806
            ],
            "speed_kmh": 33.44645502938816,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.040771484375,
                        "y": 5187.0068359375,
                        "z": 378.5441589355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04833984375,
                        "y": 5175.046875,
                        "z": 378.4963073730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28875988721847534,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.040771484375,
                        "y": 5109.8134765625,
                        "z": 377.9360046386719
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.79248046875,
                        "y": 5131.6142578125,
                        "z": 378.1830139160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.057373046875,
                        "y": 5152.57421875,
                        "z": 378.36151123046875
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.93274688720703,
                "transform": {
                    "location": {
                        "x": -2499.05517578125,
                        "y": 5071.6162109375,
                        "z": 377.40673828125
                    },
                    "rotation": {
                        "roll": -0.09408566355705261,
                        "pitch": -0.7951364517211914,
                        "yaw": -84.77025604248047
                    }
                },
                "velocity": {
                    "x": 1.6648131608963013,
                    "y": -18.857601165771484,
                    "z": -0.2610194683074951
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.05859375,
                        "y": 5110.0419921875,
                        "z": 377.9430236816406
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.024658203125,
                        "y": 5212.0068359375,
                        "z": 378.6314697265625
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.868896484375,
                        "y": 4940.19384765625,
                        "z": 375.8422546386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8277574181556702,
                        "yaw": -84.18577575683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.758448600769043,
                "transform": {
                    "location": {
                        "x": -2480.78076171875,
                        "y": 4956.859375,
                        "z": 376.0646057128906
                    },
                    "rotation": {
                        "roll": -0.0012817553943023086,
                        "pitch": -0.7427967190742493,
                        "yaw": -82.73091888427734
                    }
                },
                "velocity": {
                    "x": 1.232595443725586,
                    "y": -9.67941665649414,
                    "z": -0.13009858131408691
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.616405487060547,
                "transform": {
                    "location": {
                        "x": -2484.540771484375,
                        "y": 4983.826171875,
                        "z": 376.396484375
                    },
                    "rotation": {
                        "roll": 0.0005542326252907515,
                        "pitch": -0.56369549036026,
                        "yaw": -81.5348129272461
                    }
                },
                "velocity": {
                    "x": 1.418131709098816,
                    "y": -9.510759353637695,
                    "z": -0.09805243462324142
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.290681838989258,
                "transform": {
                    "location": {
                        "x": -2487.372314453125,
                        "y": 5002.84228515625,
                        "z": 376.5641784667969
                    },
                    "rotation": {
                        "roll": -6.104748899815604e-05,
                        "pitch": -0.5362244844436646,
                        "yaw": -81.56803131103516
                    }
                },
                "velocity": {
                    "x": 1.3620857000350952,
                    "y": -9.189870834350586,
                    "z": -0.0881347730755806
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.890349864959717,
                "transform": {
                    "location": {
                        "x": -2491.353515625,
                        "y": 5031.42626953125,
                        "z": 376.8739013671875
                    },
                    "rotation": {
                        "roll": 0.00023275180137716234,
                        "pitch": -0.7214045524597168,
                        "yaw": -82.8956527709961
                    }
                },
                "velocity": {
                    "x": 0.7304930686950684,
                    "y": -5.844457149505615,
                    "z": -0.07018637657165527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.179924964904785,
                "transform": {
                    "location": {
                        "x": -2493.663330078125,
                        "y": 5051.53564453125,
                        "z": 377.1275939941406
                    },
                    "rotation": {
                        "roll": -0.02929692342877388,
                        "pitch": -0.7133175730705261,
                        "yaw": -84.09498596191406
                    }
                },
                "velocity": {
                    "x": 0.9607133865356445,
                    "y": -9.12877082824707,
                    "z": -0.11658275127410889
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.636402130126953,
                "transform": {
                    "location": {
                        "x": -2495.6123046875,
                        "y": 5072.20849609375,
                        "z": 377.41217041015625
                    },
                    "rotation": {
                        "roll": -0.009948746301233768,
                        "pitch": -0.9715875387191772,
                        "yaw": -85.22979736328125
                    }
                },
                "velocity": {
                    "x": 0.7172628045082092,
                    "y": -8.605738639831543,
                    "z": -0.1193426102399826
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.90869140625,
                        "y": 5089.45947265625,
                        "z": 377.6501159667969
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.22705078125,
                        "y": 5094.28173828125,
                        "z": 377.7265625
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 20.984773635864258,
                "transform": {
                    "location": {
                        "x": -2497.14697265625,
                        "y": 5051.80224609375,
                        "z": 377.1436767578125
                    },
                    "rotation": {
                        "roll": -0.0795287936925888,
                        "pitch": -0.7040080428123474,
                        "yaw": -83.94920349121094
                    }
                },
                "velocity": {
                    "x": 2.157094717025757,
                    "y": -20.871904373168945,
                    "z": -0.2670305669307709
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 20.002565383911133,
                "transform": {
                    "location": {
                        "x": -2492.4560546875,
                        "y": 5013.94384765625,
                        "z": 376.67791748046875
                    },
                    "rotation": {
                        "roll": -0.02468876726925373,
                        "pitch": -0.6858534216880798,
                        "yaw": -81.69457244873047
                    }
                },
                "velocity": {
                    "x": 2.8480026721954346,
                    "y": -19.797746658325195,
                    "z": -0.20176684856414795
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 19.25322723388672,
                "transform": {
                    "location": {
                        "x": -2488.6728515625,
                        "y": 4988.4609375,
                        "z": 376.446044921875
                    },
                    "rotation": {
                        "roll": -0.0009765666909515858,
                        "pitch": -0.39407455921173096,
                        "yaw": -81.47123718261719
                    }
                },
                "velocity": {
                    "x": 2.857165575027466,
                    "y": -19.03915023803711,
                    "z": -0.18481077253818512
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.57568359375,
                        "y": 4920.50341796875,
                        "z": 375.5506286621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9225194454193115,
                        "yaw": -85.58943939208984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 23.70415687561035,
                "transform": {
                    "location": {
                        "x": -2490.420654296875,
                        "y": 4976.4609375,
                        "z": 376.3220520019531
                    },
                    "rotation": {
                        "roll": 0.04892795905470848,
                        "pitch": -0.576720654964447,
                        "yaw": -81.66978454589844
                    }
                },
                "velocity": {
                    "x": 3.4528002738952637,
                    "y": -23.449953079223633,
                    "z": -0.2546631693840027
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.209747314453125,
                "transform": {
                    "location": {
                        "x": -2486.771728515625,
                        "y": 4949.2548828125,
                        "z": 375.983154296875
                    },
                    "rotation": {
                        "roll": 0.1500871777534485,
                        "pitch": -0.9955683350563049,
                        "yaw": -83.58740234375
                    }
                },
                "velocity": {
                    "x": 2.6912546157836914,
                    "y": -23.050846099853516,
                    "z": -0.32867416739463806
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.364990234375,
                        "y": 4923.89404296875,
                        "z": 375.6086730957031
                    },
                    "rotation": {
                        "roll": 5.3367415375760174e-08,
                        "pitch": -0.898832380771637,
                        "yaw": -85.23853302001953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.920166015625,
                        "y": 5137.9287109375,
                        "z": 378.49896240234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0014384984970093,
        "expert_target_speed": 5.7315589870323205,
        "target_point": [
            26.167924604793264,
            2.9755632492888715
        ],
        "target_point_next": [
            57.09160275594039,
            8.922167123246254
        ]
    },
    "475": {
        "acceleration": [
            3.5160112380981445,
            -8.012771606445312,
            -0.07338881492614746
        ],
        "angular_velocity": [
            -1.5125937461853027,
            -1.2046449184417725,
            11.357081413269043
        ],
        "forward_vector": [
            0.23149698972702026,
            -0.9728335738182068,
            0.0019798262510448694
        ],
        "right_vector": [
            0.9727984666824341,
            0.23150545358657837,
            0.008262080140411854
        ],
        "location": [
            -2488.372802734375,
            5009.3447265625,
            376.6304626464844
        ],
        "rotation": [
            -0.4733886420726776,
            0.1134357750415802,
            -76.61475372314453
        ],
        "velocity": [
            2.2289302349090576,
            -8.480053901672363,
            -0.08501296490430832
        ],
        "speed": 8.768092390443911,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.89693832397461,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2487.0322265625,
                5000.5498046875,
                376.54254150390625
            ],
            "velocity": [
                1.3616201877593994,
                -9.15071964263916,
                -0.08762336522340775
            ],
            "speed_kmh": 33.30678236470251,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.042236328125,
                        "y": 5184.626953125,
                        "z": 378.53515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05029296875,
                        "y": 5172.626953125,
                        "z": 378.48492431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28875988721847534,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.9365234375,
                        "y": 5107.533203125,
                        "z": 377.9065856933594
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.73046875,
                        "y": 5129.1943359375,
                        "z": 378.15863037109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04931640625,
                        "y": 5150.1943359375,
                        "z": 378.34332275390625
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.250458717346191,
                "transform": {
                    "location": {
                        "x": -2498.685791015625,
                        "y": 5067.44189453125,
                        "z": 377.35552978515625
                    },
                    "rotation": {
                        "roll": -0.06863399595022202,
                        "pitch": -1.5115344524383545,
                        "yaw": -83.98191833496094
                    }
                },
                "velocity": {
                    "x": 1.4058222770690918,
                    "y": -15.184134483337402,
                    "z": -0.20548094809055328
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.96337890625,
                        "y": 5107.9619140625,
                        "z": 377.91632080078125
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.026123046875,
                        "y": 5209.5068359375,
                        "z": 378.6216735839844
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.61279296875,
                        "y": 4937.70654296875,
                        "z": 375.8065490722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.600439071655273,
                "transform": {
                    "location": {
                        "x": -2480.484375,
                        "y": 4954.45654296875,
                        "z": 376.0323486328125
                    },
                    "rotation": {
                        "roll": 0.00648338021710515,
                        "pitch": -0.7777740955352783,
                        "yaw": -83.04347229003906
                    }
                },
                "velocity": {
                    "x": 1.1506962776184082,
                    "y": -9.53033447265625,
                    "z": -0.13057315349578857
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.616368293762207,
                "transform": {
                    "location": {
                        "x": -2484.186767578125,
                        "y": 4981.44873046875,
                        "z": 376.3717956542969
                    },
                    "rotation": {
                        "roll": -0.0013733176747336984,
                        "pitch": -0.6036316156387329,
                        "yaw": -81.50999450683594
                    }
                },
                "velocity": {
                    "x": 1.4120872020721436,
                    "y": -9.51159954071045,
                    "z": -0.10012184083461761
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.251884460449219,
                "transform": {
                    "location": {
                        "x": -2487.0322265625,
                        "y": 5000.5498046875,
                        "z": 376.54254150390625
                    },
                    "rotation": {
                        "roll": -0.0012817304814234376,
                        "pitch": -0.537173867225647,
                        "yaw": -81.5510482788086
                    }
                },
                "velocity": {
                    "x": 1.3616201877593994,
                    "y": -9.15071964263916,
                    "z": -0.08762336522340775
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.410069465637207,
                "transform": {
                    "location": {
                        "x": -2491.17919921875,
                        "y": 5030.04931640625,
                        "z": 376.8572998046875
                    },
                    "rotation": {
                        "roll": -0.0001830944383982569,
                        "pitch": -0.692410409450531,
                        "yaw": -82.78450775146484
                    }
                },
                "velocity": {
                    "x": 0.6898326873779297,
                    "y": -5.365522861480713,
                    "z": -0.06438694894313812
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.477251052856445,
                "transform": {
                    "location": {
                        "x": -2493.41455078125,
                        "y": 5049.1953125,
                        "z": 377.0973205566406
                    },
                    "rotation": {
                        "roll": -0.032989468425512314,
                        "pitch": -0.601227343082428,
                        "yaw": -83.90214538574219
                    }
                },
                "velocity": {
                    "x": 1.0123980045318604,
                    "y": -9.422259330749512,
                    "z": -0.11989140510559082
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.421695709228516,
                "transform": {
                    "location": {
                        "x": -2495.42236328125,
                        "y": 5069.9697265625,
                        "z": 377.37884521484375
                    },
                    "rotation": {
                        "roll": -0.020355263724923134,
                        "pitch": -0.6343059539794922,
                        "yaw": -85.10948944091797
                    }
                },
                "velocity": {
                    "x": 0.8148462772369385,
                    "y": -9.385531425476074,
                    "z": -0.1272195726633072
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.761962890625,
                        "y": 5087.244140625,
                        "z": 377.6180725097656
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.1005859375,
                        "y": 5092.20166015625,
                        "z": 377.6964111328125
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 19.734600067138672,
                "transform": {
                    "location": {
                        "x": -2496.612548828125,
                        "y": 5046.74755859375,
                        "z": 377.08203125
                    },
                    "rotation": {
                        "roll": -0.0834045261144638,
                        "pitch": -1.0141327381134033,
                        "yaw": -83.60338592529297
                    }
                },
                "velocity": {
                    "x": 2.138741970062256,
                    "y": -19.616804122924805,
                    "z": -0.24750132858753204
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.557743072509766,
                "transform": {
                    "location": {
                        "x": -2491.763671875,
                        "y": 5009.19287109375,
                        "z": 376.6300964355469
                    },
                    "rotation": {
                        "roll": -0.015472456812858582,
                        "pitch": -0.6554180979728699,
                        "yaw": -81.53062438964844
                    }
                },
                "velocity": {
                    "x": 2.710148334503174,
                    "y": -18.357891082763672,
                    "z": -0.18087062239646912
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 18.479248046875,
                "transform": {
                    "location": {
                        "x": -2487.981689453125,
                        "y": 4983.84228515625,
                        "z": 376.4011535644531
                    },
                    "rotation": {
                        "roll": -0.0033874630462378263,
                        "pitch": -0.4747254550457001,
                        "yaw": -81.51171112060547
                    }
                },
                "velocity": {
                    "x": 2.72619891166687,
                    "y": -18.276140213012695,
                    "z": -0.18200771510601044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.287109375,
                        "y": 4916.76416015625,
                        "z": 375.4905700683594
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.976272583007812,
                "transform": {
                    "location": {
                        "x": -2489.5830078125,
                        "y": 4970.70263671875,
                        "z": 376.25799560546875
                    },
                    "rotation": {
                        "roll": 0.09904821962118149,
                        "pitch": -0.8496959805488586,
                        "yaw": -81.93426513671875
                    }
                },
                "velocity": {
                    "x": 3.2599849700927734,
                    "y": -22.742265701293945,
                    "z": -0.26645156741142273
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.21030616760254,
                "transform": {
                    "location": {
                        "x": -2486.12841796875,
                        "y": 4943.5126953125,
                        "z": 375.9006652832031
                    },
                    "rotation": {
                        "roll": 0.1496473103761673,
                        "pitch": -0.8707807660102844,
                        "yaw": -84.03691864013672
                    }
                },
                "velocity": {
                    "x": 2.4907174110412598,
                    "y": -23.07391357421875,
                    "z": -0.33038219809532166
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.864013671875,
                        "y": 4917.66552734375,
                        "z": 375.5095520019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9225194454193115,
                        "yaw": -85.58943939208984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.88232421875,
                        "y": 5135.8623046875,
                        "z": 378.28125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.608593225479126,
        "expert_target_speed": 8.140678571305125,
        "target_point": [
            24.369657126950457,
            1.8757581396289718
        ],
        "target_point_next": [
            55.51532214178671,
            6.521564723323998
        ]
    },
    "480": {
        "acceleration": [
            0.6009483337402344,
            3.3480453491210938,
            0.032903850078582764
        ],
        "angular_velocity": [
            2.5955307483673096,
            0.48336488008499146,
            10.796442031860352
        ],
        "forward_vector": [
            0.2785272002220154,
            -0.9604259729385376,
            0.0021690111607313156
        ],
        "right_vector": [
            0.9603677988052368,
            0.27853429317474365,
            0.010599690489470959
        ],
        "location": [
            -2487.721923828125,
            5007.02783203125,
            376.6075744628906
        ],
        "rotation": [
            -0.6073302626609802,
            0.12427528202533722,
            -73.82763671875
        ],
        "velocity": [
            2.8863821029663086,
            -9.454800605773926,
            -0.09331069141626358
        ],
        "speed": 9.885568073675241,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.831781387329102,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2486.691162109375,
                4998.2568359375,
                376.5208435058594
            ],
            "velocity": [
                1.3668676614761353,
                -9.189840316772461,
                -0.08772081881761551
            ],
            "speed_kmh": 33.44886045939241,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0439453125,
                        "y": 5182.20654296875,
                        "z": 378.5260925292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.051513671875,
                        "y": 5170.23583984375,
                        "z": 378.4729309082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3253765404224396,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.818115234375,
                        "y": 5105.1337890625,
                        "z": 377.8744201660156
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.667236328125,
                        "y": 5126.7724609375,
                        "z": 378.1340026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03466796875,
                        "y": 5147.763671875,
                        "z": 378.3239440917969
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.978719711303711,
                "transform": {
                    "location": {
                        "x": -2498.33154296875,
                        "y": 5063.7353515625,
                        "z": 377.30206298828125
                    },
                    "rotation": {
                        "roll": -0.09646600484848022,
                        "pitch": -1.0265159606933594,
                        "yaw": -83.24591064453125
                    }
                },
                "velocity": {
                    "x": 1.5098326206207275,
                    "y": -14.90112018585205,
                    "z": -0.19763661921024323
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.864990234375,
                        "y": 5105.8818359375,
                        "z": 377.88922119140625
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.028076171875,
                        "y": 5207.0068359375,
                        "z": 378.6136779785156
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.367919921875,
                        "y": 4935.21875,
                        "z": 375.7702941894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8514444828033447,
                        "yaw": -84.53668212890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.626233100891113,
                "transform": {
                    "location": {
                        "x": -2480.20068359375,
                        "y": 4952.0751953125,
                        "z": 375.9994201660156
                    },
                    "rotation": {
                        "roll": 0.007861827500164509,
                        "pitch": -0.7965707778930664,
                        "yaw": -83.26168060302734
                    }
                },
                "velocity": {
                    "x": 1.1096547842025757,
                    "y": -9.56115436553955,
                    "z": -0.131739541888237
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.6161470413208,
                "transform": {
                    "location": {
                        "x": -2483.834228515625,
                        "y": 4979.07080078125,
                        "z": 376.346435546875
                    },
                    "rotation": {
                        "roll": -0.0001221231505041942,
                        "pitch": -0.6062611937522888,
                        "yaw": -81.58750915527344
                    }
                },
                "velocity": {
                    "x": 1.4056439399719238,
                    "y": -9.512306213378906,
                    "z": -0.10235913097858429
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.291350364685059,
                "transform": {
                    "location": {
                        "x": -2486.691162109375,
                        "y": 4998.2568359375,
                        "z": 376.5208435058594
                    },
                    "rotation": {
                        "roll": -0.0008239810122177005,
                        "pitch": -0.5364976525306702,
                        "yaw": -81.53905487060547
                    }
                },
                "velocity": {
                    "x": 1.3668676614761353,
                    "y": -9.189840316772461,
                    "z": -0.08772081881761551
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.021596431732178,
                "transform": {
                    "location": {
                        "x": -2490.999755859375,
                        "y": 5028.65380859375,
                        "z": 376.8404541015625
                    },
                    "rotation": {
                        "roll": -0.0012817054521292448,
                        "pitch": -0.6580477356910706,
                        "yaw": -82.69474029541016
                    }
                },
                "velocity": {
                    "x": 0.7728368043899536,
                    "y": -5.97139310836792,
                    "z": -0.06935322284698486
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.478693008422852,
                "transform": {
                    "location": {
                        "x": -2493.173583984375,
                        "y": 5046.96435546875,
                        "z": 377.0701904296875
                    },
                    "rotation": {
                        "roll": -0.03134157508611679,
                        "pitch": -0.9485766291618347,
                        "yaw": -83.81131744384766
                    }
                },
                "velocity": {
                    "x": 0.9285297393798828,
                    "y": -8.427017211914062,
                    "z": -0.10698305815458298
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.928375244140625,
                "transform": {
                    "location": {
                        "x": -2495.208740234375,
                        "y": 5067.51904296875,
                        "z": 377.34515380859375
                    },
                    "rotation": {
                        "roll": -0.011383045464754105,
                        "pitch": -0.5696104168891907,
                        "yaw": -84.95394134521484
                    }
                },
                "velocity": {
                    "x": 0.8728434443473816,
                    "y": -9.889021873474121,
                    "z": -0.13427767157554626
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.59033203125,
                        "y": 5084.8076171875,
                        "z": 377.5832824707031
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.967041015625,
                        "y": 5090.12255859375,
                        "z": 377.6663513183594
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.54353904724121,
                "transform": {
                    "location": {
                        "x": -2496.084716796875,
                        "y": 5042.0078125,
                        "z": 377.02239990234375
                    },
                    "rotation": {
                        "roll": -0.08044431358575821,
                        "pitch": -1.0321303606033325,
                        "yaw": -83.30322265625
                    }
                },
                "velocity": {
                    "x": 2.112074613571167,
                    "y": -18.421398162841797,
                    "z": -0.2326108068227768
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.132057189941406,
                "transform": {
                    "location": {
                        "x": -2491.092529296875,
                        "y": 5004.67431640625,
                        "z": 376.58636474609375
                    },
                    "rotation": {
                        "roll": -0.007720910478383303,
                        "pitch": -0.580531895160675,
                        "yaw": -81.49264526367188
                    }
                },
                "velocity": {
                    "x": 2.675020694732666,
                    "y": -17.932846069335938,
                    "z": -0.1696953922510147
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 18.8602237701416,
                "transform": {
                    "location": {
                        "x": -2487.296142578125,
                        "y": 4979.232421875,
                        "z": 376.3541259765625
                    },
                    "rotation": {
                        "roll": -0.007995622232556343,
                        "pitch": -0.6318334341049194,
                        "yaw": -81.58878326416016
                    }
                },
                "velocity": {
                    "x": 2.7522430419921875,
                    "y": -18.65724754333496,
                    "z": -0.20080260932445526
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.194091796875,
                        "y": 4915.517578125,
                        "z": 375.4703369140625
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.752273559570312,
                "transform": {
                    "location": {
                        "x": -2488.790771484375,
                        "y": 4965.0546875,
                        "z": 376.18994140625
                    },
                    "rotation": {
                        "roll": 0.16584260761737823,
                        "pitch": -0.8538487553596497,
                        "yaw": -82.32959747314453
                    }
                },
                "velocity": {
                    "x": 3.0855941772460938,
                    "y": -22.54033660888672,
                    "z": -0.27978718280792236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 23.513015747070312,
                "transform": {
                    "location": {
                        "x": -2485.522705078125,
                        "y": 4937.6904296875,
                        "z": 375.8171081542969
                    },
                    "rotation": {
                        "roll": 0.13310258090496063,
                        "pitch": -0.795805811882019,
                        "yaw": -84.4158706665039
                    }
                },
                "velocity": {
                    "x": 2.3543925285339355,
                    "y": -23.392414093017578,
                    "z": -0.3373320996761322
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.411376953125,
                        "y": 4911.431640625,
                        "z": 375.40728759765625
                    },
                    "rotation": {
                        "roll": 1.0673699080143706e-07,
                        "pitch": -0.969907283782959,
                        "yaw": -86.29124450683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.839111328125,
                        "y": 5133.77978515625,
                        "z": 378.2356872558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.43426021933555603,
        "expert_target_speed": 8.773993117800664,
        "target_point": [
            22.02554061465559,
            0.7087564168870966
        ],
        "target_point_next": [
            53.360266540937,
            3.8346033668075883
        ]
    },
    "485": {
        "acceleration": [
            2.5336790084838867,
            -6.301937103271484,
            -0.03047257661819458
        ],
        "angular_velocity": [
            -0.5593705177307129,
            0.4868812561035156,
            3.828155279159546
        ],
        "forward_vector": [
            0.3113546669483185,
            -0.950286328792572,
            0.003762116888538003
        ],
        "right_vector": [
            0.9502400755882263,
            0.3113767206668854,
            0.009396490640938282
        ],
        "location": [
            -2486.888916015625,
            5004.41064453125,
            376.5817565917969
        ],
        "rotation": [
            -0.5383909940719604,
            0.21555392444133759,
            -71.85897827148438
        ],
        "velocity": [
            3.7254891395568848,
            -11.308886528015137,
            -0.10786506533622742
        ],
        "speed": 11.906728510908383,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.463846206665039,
        "front_vehicle_info": {
            "id": 3716,
            "type": "vehicle.audi.tt",
            "location": [
                -2486.350341796875,
                4995.96435546875,
                376.4991455078125
            ],
            "velocity": [
                1.3619194030761719,
                -9.149858474731445,
                -0.08736223727464676
            ],
            "speed_kmh": 33.30386573361342,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04541015625,
                        "y": 5179.7451171875,
                        "z": 378.5162658691406
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.053466796875,
                        "y": 5167.7490234375,
                        "z": 378.4596862792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3253765404224396,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.694580078125,
                        "y": 5102.70361328125,
                        "z": 377.8412170410156
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.591796875,
                        "y": 5124.2880859375,
                        "z": 378.1072998046875
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.013916015625,
                        "y": 5145.28759765625,
                        "z": 378.30377197265625
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.81104564666748,
                "transform": {
                    "location": {
                        "x": -2497.93115234375,
                        "y": 5059.8935546875,
                        "z": 377.2468566894531
                    },
                    "rotation": {
                        "roll": -0.024810802191495895,
                        "pitch": -0.4846155643463135,
                        "yaw": -84.11090087890625
                    }
                },
                "velocity": {
                    "x": 1.6095693111419678,
                    "y": -15.727556228637695,
                    "z": -0.20595499873161316
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.759521484375,
                        "y": 5103.8017578125,
                        "z": 377.861083984375
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.029296875,
                        "y": 5204.5068359375,
                        "z": 378.6056823730469
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2478.127685546875,
                        "y": 4932.72998046875,
                        "z": 375.73370361328125
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.652583122253418,
                "transform": {
                    "location": {
                        "x": -2479.9228515625,
                        "y": 4949.6787109375,
                        "z": 375.9658203125
                    },
                    "rotation": {
                        "roll": 0.004088855814188719,
                        "pitch": -0.8022807836532593,
                        "yaw": -83.44939422607422
                    }
                },
                "velocity": {
                    "x": 1.101230263710022,
                    "y": -9.588614463806152,
                    "z": -0.1346496045589447
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.617584228515625,
                "transform": {
                    "location": {
                        "x": -2483.4833984375,
                        "y": 4976.6923828125,
                        "z": 376.3205871582031
                    },
                    "rotation": {
                        "roll": -0.00463865976780653,
                        "pitch": -0.6157552003860474,
                        "yaw": -81.59810638427734
                    }
                },
                "velocity": {
                    "x": 1.3836106061935425,
                    "y": -9.516958236694336,
                    "z": -0.10518506169319153
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.251073837280273,
                "transform": {
                    "location": {
                        "x": -2486.350341796875,
                        "y": 4995.96435546875,
                        "z": 376.4991455078125
                    },
                    "rotation": {
                        "roll": -0.0010375940473750234,
                        "pitch": -0.5372626781463623,
                        "yaw": -81.53453826904297
                    }
                },
                "velocity": {
                    "x": 1.3619194030761719,
                    "y": -9.149858474731445,
                    "z": -0.08736223727464676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.941418170928955,
                "transform": {
                    "location": {
                        "x": -2490.795654296875,
                        "y": 5027.07421875,
                        "z": 376.8219909667969
                    },
                    "rotation": {
                        "roll": 0.001001671887934208,
                        "pitch": -0.6372975707054138,
                        "yaw": -82.61876678466797
                    }
                },
                "velocity": {
                    "x": 0.893523097038269,
                    "y": -6.88320255279541,
                    "z": -0.08013957738876343
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.40069580078125,
                "transform": {
                    "location": {
                        "x": -2492.955810546875,
                        "y": 5045.0029296875,
                        "z": 377.0460205078125
                    },
                    "rotation": {
                        "roll": -0.029724130406975746,
                        "pitch": -1.138790488243103,
                        "yaw": -83.64356231689453
                    }
                },
                "velocity": {
                    "x": 0.8259553909301758,
                    "y": -7.353867530822754,
                    "z": -0.09341376274824142
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.923755645751953,
                "transform": {
                    "location": {
                        "x": -2494.998779296875,
                        "y": 5065.169921875,
                        "z": 377.3166198730469
                    },
                    "rotation": {
                        "roll": -0.018341058865189552,
                        "pitch": -0.9631590843200684,
                        "yaw": -84.83843994140625
                    }
                },
                "velocity": {
                    "x": 0.8115010857582092,
                    "y": -8.885986328125,
                    "z": -0.11887411773204803
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.421142578125,
                        "y": 5082.421875,
                        "z": 377.5491638183594
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.829833984375,
                        "y": 5088.04443359375,
                        "z": 377.6363830566406
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 17.75821304321289,
                "transform": {
                    "location": {
                        "x": -2495.55908203125,
                        "y": 5037.515625,
                        "z": 376.9646911621094
                    },
                    "rotation": {
                        "roll": -0.07012945413589478,
                        "pitch": -0.9146715402603149,
                        "yaw": -83.05451965332031
                    }
                },
                "velocity": {
                    "x": 2.113654851913452,
                    "y": -17.630565643310547,
                    "z": -0.22304965555667877
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.480195999145508,
                "transform": {
                    "location": {
                        "x": -2490.417724609375,
                        "y": 5000.158203125,
                        "z": 376.5433654785156
                    },
                    "rotation": {
                        "roll": -0.0024719128850847483,
                        "pitch": -0.5280077457427979,
                        "yaw": -81.49217987060547
                    }
                },
                "velocity": {
                    "x": 2.7331061363220215,
                    "y": -18.276172637939453,
                    "z": -0.17120730876922607
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 19.185306549072266,
                "transform": {
                    "location": {
                        "x": -2486.60400390625,
                        "y": 4974.5068359375,
                        "z": 376.3025817871094
                    },
                    "rotation": {
                        "roll": -0.01181029248982668,
                        "pitch": -0.6736137270927429,
                        "yaw": -81.76173400878906
                    }
                },
                "velocity": {
                    "x": 2.7422595024108887,
                    "y": -18.987117767333984,
                    "z": -0.21303707361221313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.194091796875,
                        "y": 4915.517578125,
                        "z": 375.4703369140625
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 23.007600784301758,
                "transform": {
                    "location": {
                        "x": -2488.034423828125,
                        "y": 4959.392578125,
                        "z": 376.1173095703125
                    },
                    "rotation": {
                        "roll": 0.2048993706703186,
                        "pitch": -0.7380701899528503,
                        "yaw": -82.7276840209961
                    }
                },
                "velocity": {
                    "x": 2.9643871784210205,
                    "y": -22.813873291015625,
                    "z": -0.2987745404243469
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2485.021240234375,
                        "y": 4931.533203125,
                        "z": 375.72552490234375
                    },
                    "rotation": {
                        "roll": 2.6683538933980344e-08,
                        "pitch": -0.8751179575920105,
                        "yaw": -84.88760375976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.08203125,
                        "y": 4906.44287109375,
                        "z": 375.32330322265625
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.795654296875,
                        "y": 5131.6962890625,
                        "z": 378.1900939941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2036113142967224,
        "expert_target_speed": 9.374798902301384,
        "target_point": [
            19.290430373529365,
            -0.025030055230514492
        ],
        "target_point_next": [
            50.714043787772844,
            2.0225265426873413
        ]
    },
    "490": {
        "acceleration": [
            1.8378639221191406,
            -5.442409515380859,
            -0.05622208118438721
        ],
        "angular_velocity": [
            0.04253082349896431,
            1.5363245010375977,
            0.08842969685792923
        ],
        "forward_vector": [
            0.31768670678138733,
            -0.9481928944587708,
            0.0023193336091935635
        ],
        "right_vector": [
            0.9481862783432007,
            0.3176935315132141,
            0.0036911226343363523
        ],
        "location": [
            -2485.8896484375,
            5001.3974609375,
            376.5513610839844
        ],
        "rotation": [
            -0.2114868015050888,
            0.13288815319538116,
            -71.47686767578125
        ],
        "velocity": [
            4.2552266120910645,
            -12.709739685058594,
            -0.13144440948963165
        ],
        "speed": 13.403150240976982,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.488897302785953,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 47.74947738647461,
        "front_vehicle_info": {
            "id": 3703,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -2487.31103515625,
                4953.671875,
                376.0406494140625
            ],
            "velocity": [
                2.7763917446136475,
                -22.63412857055664,
                -0.3115515410900116
            ],
            "speed_kmh": 82.10124922030847,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.046875,
                        "y": 5177.2802734375,
                        "z": 378.5062561035156
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05419921875,
                        "y": 5165.3203125,
                        "z": 378.4461975097656
                    },
                    "rotation": {
                        "roll": 1.3340479831924767e-08,
                        "pitch": -0.3619931638240814,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.57763671875,
                        "y": 5100.51220703125,
                        "z": 377.81060791015625
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.517822265625,
                        "y": 5121.90087890625,
                        "z": 378.0813903808594
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.98779296875,
                        "y": 5142.8603515625,
                        "z": 378.2837829589844
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 17.28074836730957,
                "transform": {
                    "location": {
                        "x": -2497.5166015625,
                        "y": 5055.814453125,
                        "z": 377.19287109375
                    },
                    "rotation": {
                        "roll": 0.03152100741863251,
                        "pitch": -0.3889109492301941,
                        "yaw": -84.48096466064453
                    }
                },
                "velocity": {
                    "x": 1.7236759662628174,
                    "y": -17.1931095123291,
                    "z": -0.22389964759349823
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.65380859375,
                        "y": 5101.7216796875,
                        "z": 377.8329162597656
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.03125,
                        "y": 5202.0068359375,
                        "z": 378.5976867675781
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.627459526062012,
                "transform": {
                    "location": {
                        "x": -2479.650390625,
                        "y": 4947.28564453125,
                        "z": 375.93194580078125
                    },
                    "rotation": {
                        "roll": 0.006806965917348862,
                        "pitch": -0.8114947080612183,
                        "yaw": -83.53448486328125
                    }
                },
                "velocity": {
                    "x": 1.059890627861023,
                    "y": -9.567994117736816,
                    "z": -0.134524405002594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.616168022155762,
                "transform": {
                    "location": {
                        "x": -2483.138671875,
                        "y": 4974.3134765625,
                        "z": 376.2942199707031
                    },
                    "rotation": {
                        "roll": -0.004089376889169216,
                        "pitch": -0.6401662826538086,
                        "yaw": -81.78358459472656
                    }
                },
                "velocity": {
                    "x": 1.3676087856292725,
                    "y": -9.517817497253418,
                    "z": -0.10719221830368042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.293054580688477,
                "transform": {
                    "location": {
                        "x": -2486.0087890625,
                        "y": 4993.671875,
                        "z": 376.4774169921875
                    },
                    "rotation": {
                        "roll": -0.0017700304742902517,
                        "pitch": -0.5367777347564697,
                        "yaw": -81.533203125
                    }
                },
                "velocity": {
                    "x": 1.3681048154830933,
                    "y": -9.191375732421875,
                    "z": -0.0880792886018753
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.826327800750732,
                "transform": {
                    "location": {
                        "x": -2490.5556640625,
                        "y": 5025.2353515625,
                        "z": 376.80078125
                    },
                    "rotation": {
                        "roll": -0.001678458764217794,
                        "pitch": -0.625242292881012,
                        "yaw": -82.53223419189453
                    }
                },
                "velocity": {
                    "x": 1.0292842388153076,
                    "y": -7.757862567901611,
                    "z": -0.08689246326684952
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.769903182983398,
                "transform": {
                    "location": {
                        "x": -2492.746337890625,
                        "y": 5043.1416015625,
                        "z": 377.0211486816406
                    },
                    "rotation": {
                        "roll": -0.016021745279431343,
                        "pitch": -0.8339797258377075,
                        "yaw": -83.57659149169922
                    }
                },
                "velocity": {
                    "x": 0.8718973398208618,
                    "y": -7.720211505889893,
                    "z": -0.09759590774774551
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.528326988220215,
                "transform": {
                    "location": {
                        "x": -2494.802490234375,
                        "y": 5063.02978515625,
                        "z": 377.2879638671875
                    },
                    "rotation": {
                        "roll": -0.01071169227361679,
                        "pitch": -0.9508920311927795,
                        "yaw": -84.67835235595703
                    }
                },
                "velocity": {
                    "x": 0.7912688851356506,
                    "y": -8.490788459777832,
                    "z": -0.11300179362297058
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.26025390625,
                        "y": 5080.265625,
                        "z": 377.5187683105469
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.689697265625,
                        "y": 5085.96630859375,
                        "z": 377.6066589355469
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.096576690673828,
                "transform": {
                    "location": {
                        "x": -2495.018310546875,
                        "y": 5033.08447265625,
                        "z": 376.9074401855469
                    },
                    "rotation": {
                        "roll": -0.06170649453997612,
                        "pitch": -0.6559986472129822,
                        "yaw": -82.81694030761719
                    }
                },
                "velocity": {
                    "x": 2.2407846450805664,
                    "y": -17.955951690673828,
                    "z": -0.2209039330482483
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.525781631469727,
                "transform": {
                    "location": {
                        "x": -2489.728271484375,
                        "y": 4995.54931640625,
                        "z": 376.49993896484375
                    },
                    "rotation": {
                        "roll": -0.0006713882903568447,
                        "pitch": -0.5306100249290466,
                        "yaw": -81.49281311035156
                    }
                },
                "velocity": {
                    "x": 2.739480495452881,
                    "y": -18.3212890625,
                    "z": -0.17367461323738098
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.949277877807617,
                "transform": {
                    "location": {
                        "x": -2485.9462890625,
                        "y": 4969.90478515625,
                        "z": 376.2486572265625
                    },
                    "rotation": {
                        "roll": -0.019195567816495895,
                        "pitch": -0.5784350037574768,
                        "yaw": -82.01498413085938
                    }
                },
                "velocity": {
                    "x": 2.488278865814209,
                    "y": -17.774721145629883,
                    "z": -0.21065527200698853
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.194091796875,
                        "y": 4915.517578125,
                        "z": 375.4703369140625
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.8059024810791,
                "transform": {
                    "location": {
                        "x": -2487.31103515625,
                        "y": 4953.671875,
                        "z": 376.0406494140625
                    },
                    "rotation": {
                        "roll": 0.23238028585910797,
                        "pitch": -0.7955872416496277,
                        "yaw": -83.15898895263672
                    }
                },
                "velocity": {
                    "x": 2.7763917446136475,
                    "y": -22.63412857055664,
                    "z": -0.3115515410900116
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.60107421875,
                        "y": 4926.65478515625,
                        "z": 375.65142822265625
                    },
                    "rotation": {
                        "roll": 5.3367415375760174e-08,
                        "pitch": -0.898832380771637,
                        "yaw": -85.23853302001953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3701,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.08203125,
                        "y": 4906.44287109375,
                        "z": 375.32330322265625
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.74267578125,
                        "y": 5129.61279296875,
                        "z": 378.1676025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1189277321100235,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            16.11529264824391,
            -0.1439234169988568
        ],
        "target_point_next": [
            47.55186191619315,
            1.6940321567103567
        ]
    },
    "495": {
        "acceleration": [
            1.5875244140625,
            -5.498161315917969,
            0.07918775081634521
        ],
        "angular_velocity": [
            -0.6895191669464111,
            2.226306915283203,
            -1.8979846239089966
        ],
        "forward_vector": [
            0.3126683235168457,
            -0.9498617649078369,
            -0.0010887380922213197
        ],
        "right_vector": [
            0.9498521685600281,
            0.3126700818538666,
            -0.004281301982700825
        ],
        "location": [
            -2484.813232421875,
            4998.14892578125,
            376.517578125
        ],
        "rotation": [
            0.24530142545700073,
            -0.0623801127076149,
            -71.77987670898438
        ],
        "velocity": [
            4.463007926940918,
            -13.532044410705566,
            -0.15686041116714478
        ],
        "speed": 14.249023324047345,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4866633313756834,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 50.02626419067383,
        "front_vehicle_info": {
            "id": 3703,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -2486.65576171875,
                4948.15966796875,
                375.9641418457031
            ],
            "velocity": [
                2.481462240219116,
                -21.67068099975586,
                -0.31059569120407104
            ],
            "speed_kmh": 78.53221066708646,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.048583984375,
                        "y": 5174.900390625,
                        "z": 378.4957580566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28875988721847534,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.056396484375,
                        "y": 5162.900390625,
                        "z": 378.43157958984375
                    },
                    "rotation": {
                        "roll": 1.3340479831924767e-08,
                        "pitch": -0.3619931638240814,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.450927734375,
                        "y": 5098.26025390625,
                        "z": 377.7781982421875
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.43212890625,
                        "y": 5119.4833984375,
                        "z": 378.0537414550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.9580078125,
                        "y": 5140.44287109375,
                        "z": 378.2635498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.060476303100586,
                "transform": {
                    "location": {
                        "x": -2497.072509765625,
                        "y": 5051.3818359375,
                        "z": 377.136474609375
                    },
                    "rotation": {
                        "roll": -0.004455544054508209,
                        "pitch": -0.4757704734802246,
                        "yaw": -84.25878143310547
                    }
                },
                "velocity": {
                    "x": 1.819505214691162,
                    "y": -17.967130661010742,
                    "z": -0.2288898229598999
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.53857421875,
                        "y": 5099.6416015625,
                        "z": 377.8034362792969
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.032470703125,
                        "y": 5199.5068359375,
                        "z": 378.58929443359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.64042854309082,
                "transform": {
                    "location": {
                        "x": -2479.38623046875,
                        "y": 4944.89208984375,
                        "z": 375.89794921875
                    },
                    "rotation": {
                        "roll": 0.005179800093173981,
                        "pitch": -0.8087148666381836,
                        "yaw": -83.76268005371094
                    }
                },
                "velocity": {
                    "x": 1.0442566871643066,
                    "y": -9.58275032043457,
                    "z": -0.13522131741046906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.61709213256836,
                "transform": {
                    "location": {
                        "x": -2482.796630859375,
                        "y": 4971.93408203125,
                        "z": 376.26702880859375
                    },
                    "rotation": {
                        "roll": -0.0012512322282418609,
                        "pitch": -0.6493187546730042,
                        "yaw": -81.80867767333984
                    }
                },
                "velocity": {
                    "x": 1.3656656742095947,
                    "y": -9.518972396850586,
                    "z": -0.11219474673271179
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.25039005279541,
                "transform": {
                    "location": {
                        "x": -2485.66748046875,
                        "y": 4991.37939453125,
                        "z": 376.455810546875
                    },
                    "rotation": {
                        "roll": 0.00026606887695379555,
                        "pitch": -0.5365591645240784,
                        "yaw": -81.52706146240234
                    }
                },
                "velocity": {
                    "x": 1.3629177808761597,
                    "y": -9.14901351928711,
                    "z": -0.08786845207214355
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.666808128356934,
                "transform": {
                    "location": {
                        "x": -2490.282958984375,
                        "y": 5023.1865234375,
                        "z": 376.7775573730469
                    },
                    "rotation": {
                        "roll": -0.000701922457665205,
                        "pitch": -0.6154751181602478,
                        "yaw": -82.39305114746094
                    }
                },
                "velocity": {
                    "x": 1.1530293226242065,
                    "y": -8.589226722717285,
                    "z": -0.09628497809171677
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.35383129119873,
                "transform": {
                    "location": {
                        "x": -2492.5126953125,
                        "y": 5041.09912109375,
                        "z": 376.99432373046875
                    },
                    "rotation": {
                        "roll": -0.035308849066495895,
                        "pitch": -0.5758941769599915,
                        "yaw": -83.43840026855469
                    }
                },
                "velocity": {
                    "x": 0.9689720869064331,
                    "y": -8.296773910522461,
                    "z": -0.10552877932786942
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.061627388000488,
                "transform": {
                    "location": {
                        "x": -2494.594970703125,
                        "y": 5060.830078125,
                        "z": 377.2561950683594
                    },
                    "rotation": {
                        "roll": -0.01834104210138321,
                        "pitch": -0.6364779472351074,
                        "yaw": -84.5831527709961
                    }
                },
                "velocity": {
                    "x": 0.8677486777305603,
                    "y": -9.01919937133789,
                    "z": -0.11892630904912949
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.09326171875,
                        "y": 5078.08154296875,
                        "z": 377.488037109375
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.54248046875,
                        "y": 5083.88818359375,
                        "z": 377.5771789550781
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 17.911109924316406,
                "transform": {
                    "location": {
                        "x": -2494.447265625,
                        "y": 5028.572265625,
                        "z": 376.8529968261719
                    },
                    "rotation": {
                        "roll": -0.055419888347387314,
                        "pitch": -0.6152907013893127,
                        "yaw": -82.57433319091797
                    }
                },
                "velocity": {
                    "x": 2.2927632331848145,
                    "y": -17.76253318786621,
                    "z": -0.20850104093551636
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 17.14931297302246,
                "transform": {
                    "location": {
                        "x": -2489.069580078125,
                        "y": 4991.14208984375,
                        "z": 376.4588317871094
                    },
                    "rotation": {
                        "roll": 0.000268073141342029,
                        "pitch": -0.6040619015693665,
                        "yaw": -81.50469207763672
                    }
                },
                "velocity": {
                    "x": 2.534052610397339,
                    "y": -16.960294723510742,
                    "z": -0.16086332499980927
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 16.761451721191406,
                "transform": {
                    "location": {
                        "x": -2485.35595703125,
                        "y": 4965.6318359375,
                        "z": 376.1968994140625
                    },
                    "rotation": {
                        "roll": -0.01943969540297985,
                        "pitch": -0.5823350548744202,
                        "yaw": -82.27970886230469
                    }
                },
                "velocity": {
                    "x": 2.24442458152771,
                    "y": -16.60924530029297,
                    "z": -0.20440657436847687
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.194091796875,
                        "y": 4915.517578125,
                        "z": 375.4703369140625
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 21.814502716064453,
                "transform": {
                    "location": {
                        "x": -2486.65576171875,
                        "y": 4948.15966796875,
                        "z": 375.9641418457031
                    },
                    "rotation": {
                        "roll": 0.2578791081905365,
                        "pitch": -1.1179789304733276,
                        "yaw": -83.65872955322266
                    }
                },
                "velocity": {
                    "x": 2.481462240219116,
                    "y": -21.67068099975586,
                    "z": -0.31059569120407104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2484.166259765625,
                        "y": 4921.46875,
                        "z": 375.5702209472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9225194454193115,
                        "yaw": -85.58943939208984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.68896484375,
                        "y": 5127.52978515625,
                        "z": 378.14471435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06646253913640976,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            12.69360592845177,
            -0.06543119635568884
        ],
        "target_point_next": [
            44.12001587761596,
            1.9387458758046368
        ]
    },
    "500": {
        "acceleration": [
            0.8208179473876953,
            -4.496364593505859,
            -0.08690446615219116
        ],
        "angular_velocity": [
            -0.14152172207832336,
            0.9591251015663147,
            -2.3137075901031494
        ],
        "forward_vector": [
            0.3036964237689972,
            -0.9527683258056641,
            -0.001005649333819747
        ],
        "right_vector": [
            0.9526972770690918,
            0.30368638038635254,
            -0.011934671550989151
        ],
        "location": [
            -2483.665771484375,
            4994.60693359375,
            376.478515625
        ],
        "rotation": [
            0.6838228702545166,
            -0.05761947110295296,
            -72.32023620605469
        ],
        "velocity": [
            4.709663391113281,
            -14.717840194702148,
            -0.16795502603054047
        ],
        "speed": 15.453017480556438,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4839902379503864,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 51.938777923583984,
        "front_vehicle_info": {
            "id": 3703,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -2486.0556640625,
                4942.7265625,
                375.8851013183594
            ],
            "velocity": [
                2.3324551582336426,
                -21.879953384399414,
                -0.31499162316322327
            ],
            "speed_kmh": 79.22224543972213,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05029296875,
                        "y": 5172.48095703125,
                        "z": 378.4842834472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28875988721847534,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.057861328125,
                        "y": 5160.48095703125,
                        "z": 378.41650390625
                    },
                    "rotation": {
                        "roll": -1.3340534898986789e-08,
                        "pitch": -0.39864397048950195,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.322021484375,
                        "y": 5096.025390625,
                        "z": 377.7459411621094
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.345458984375,
                        "y": 5117.0654296875,
                        "z": 378.0258483886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.919921875,
                        "y": 5138.06494140625,
                        "z": 378.24267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 17.695951461791992,
                "transform": {
                    "location": {
                        "x": -2496.60888671875,
                        "y": 5046.884765625,
                        "z": 377.08197021484375
                    },
                    "rotation": {
                        "roll": -0.0560913048684597,
                        "pitch": -0.7807042598724365,
                        "yaw": -83.85501098632812
                    }
                },
                "velocity": {
                    "x": 1.867513656616211,
                    "y": -17.59572410583496,
                    "z": -0.22271929681301117
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.421875,
                        "y": 5097.5615234375,
                        "z": 377.77386474609375
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.034423828125,
                        "y": 5197.0068359375,
                        "z": 378.580810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.637221336364746,
                "transform": {
                    "location": {
                        "x": -2479.127197265625,
                        "y": 4942.49609375,
                        "z": 375.864013671875
                    },
                    "rotation": {
                        "roll": 0.006605745758861303,
                        "pitch": -0.8097803592681885,
                        "yaw": -83.86610412597656
                    }
                },
                "velocity": {
                    "x": 1.0049364566802979,
                    "y": -9.583730697631836,
                    "z": -0.13505062460899353
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.616989135742188,
                "transform": {
                    "location": {
                        "x": -2482.46240234375,
                        "y": 4969.55322265625,
                        "z": 376.23919677734375
                    },
                    "rotation": {
                        "roll": -0.00588984414935112,
                        "pitch": -0.6737024784088135,
                        "yaw": -82.04609680175781
                    }
                },
                "velocity": {
                    "x": 1.3186211585998535,
                    "y": -9.525503158569336,
                    "z": -0.11186312139034271
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.29330062866211,
                "transform": {
                    "location": {
                        "x": -2485.325927734375,
                        "y": 4989.0869140625,
                        "z": 376.4337463378906
                    },
                    "rotation": {
                        "roll": -0.00018311622261535376,
                        "pitch": -0.5510186553001404,
                        "yaw": -81.52250671386719
                    }
                },
                "velocity": {
                    "x": 1.3698694705963135,
                    "y": -9.191349983215332,
                    "z": -0.08931773900985718
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.448885917663574,
                "transform": {
                    "location": {
                        "x": -2489.98095703125,
                        "y": 5020.939453125,
                        "z": 376.7527770996094
                    },
                    "rotation": {
                        "roll": 0.000820548739284277,
                        "pitch": -0.6042121648788452,
                        "yaw": -82.31265258789062
                    }
                },
                "velocity": {
                    "x": 1.2750592231750488,
                    "y": -9.361902236938477,
                    "z": -0.10222380608320236
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.126888275146484,
                "transform": {
                    "location": {
                        "x": -2492.24951171875,
                        "y": 5038.85986328125,
                        "z": 376.965576171875
                    },
                    "rotation": {
                        "roll": -0.02792356349527836,
                        "pitch": -0.4794246256351471,
                        "yaw": -83.28096771240234
                    }
                },
                "velocity": {
                    "x": 1.0723098516464233,
                    "y": -9.062945365905762,
                    "z": -0.11519981920719147
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.76746940612793,
                "transform": {
                    "location": {
                        "x": -2494.382080078125,
                        "y": 5058.6240234375,
                        "z": 377.2283020019531
                    },
                    "rotation": {
                        "roll": -0.01159670576453209,
                        "pitch": -0.7597628831863403,
                        "yaw": -84.41557312011719
                    }
                },
                "velocity": {
                    "x": 0.8545701503753662,
                    "y": -8.72496223449707,
                    "z": -0.11512229591608047
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.918701171875,
                        "y": 5075.86181640625,
                        "z": 377.4571533203125
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.395263671875,
                        "y": 5081.81005859375,
                        "z": 377.5477600097656
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.585350036621094,
                "transform": {
                    "location": {
                        "x": -2493.889404296875,
                        "y": 5024.3037109375,
                        "z": 376.806640625
                    },
                    "rotation": {
                        "roll": -0.05484010651707649,
                        "pitch": -0.9375936985015869,
                        "yaw": -82.32774353027344
                    }
                },
                "velocity": {
                    "x": 2.1930091381073,
                    "y": -16.438688278198242,
                    "z": -0.1845608800649643
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.762102127075195,
                "transform": {
                    "location": {
                        "x": -2488.462158203125,
                        "y": 4987.0732421875,
                        "z": 376.4198303222656
                    },
                    "rotation": {
                        "roll": 0.00017727608792483807,
                        "pitch": -0.6482190489768982,
                        "yaw": -81.51835632324219
                    }
                },
                "velocity": {
                    "x": 2.3255927562713623,
                    "y": -15.588834762573242,
                    "z": -0.15399493277072906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.812522888183594,
                "transform": {
                    "location": {
                        "x": -2484.841552734375,
                        "y": 4961.7998046875,
                        "z": 376.1484375
                    },
                    "rotation": {
                        "roll": -0.01388549618422985,
                        "pitch": -0.5568243265151978,
                        "yaw": -82.46450805664062
                    }
                },
                "velocity": {
                    "x": 1.9431766271591187,
                    "y": -14.683283805847168,
                    "z": -0.18995285034179688
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.194091796875,
                        "y": 4915.517578125,
                        "z": 375.4703369140625
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.006179809570312,
                "transform": {
                    "location": {
                        "x": -2486.0556640625,
                        "y": 4942.7265625,
                        "z": 375.8851013183594
                    },
                    "rotation": {
                        "roll": 0.2573280334472656,
                        "pitch": -0.9091185927391052,
                        "yaw": -84.0621566772461
                    }
                },
                "velocity": {
                    "x": 2.3324551582336426,
                    "y": -21.879953384399414,
                    "z": -0.31499162316322327
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.68310546875,
                        "y": 4915.23779296875,
                        "z": 375.4700622558594
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.630126953125,
                        "y": 5125.4462890625,
                        "z": 378.12225341796875
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.047639086842536926,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            8.970478887588705,
            0.03670900319301218
        ],
        "target_point_next": [
            40.37659006282162,
            2.3371761032424025
        ]
    },
    "505": {
        "acceleration": [
            1.2124824523925781,
            -4.24072265625,
            -1.5957008600234985
        ],
        "angular_velocity": [
            1.109717845916748,
            -2.3341760635375977,
            0.27771568298339844
        ],
        "forward_vector": [
            0.2995065450668335,
            -0.9540921449661255,
            0.002009748015552759
        ],
        "right_vector": [
            0.954083263874054,
            0.29949232935905457,
            -0.005425073206424713
        ],
        "location": [
            -2482.450927734375,
            4990.7861328125,
            376.4400634765625
        ],
        "rotation": [
            0.31083595752716064,
            0.11515015363693237,
            -72.5719985961914
        ],
        "velocity": [
            4.9702653884887695,
            -15.793484687805176,
            -0.1794142723083496
        ],
        "speed": 16.557104113218166,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.480919539345677,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 53.68524169921875,
        "front_vehicle_info": {
            "id": 3703,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -2485.484375,
                4937.1904296875,
                375.8045654296875
            ],
            "velocity": [
                2.2376792430877686,
                -22.39156150817871,
                -0.3241995573043823
            ],
            "speed_kmh": 81.0195448837562,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0517578125,
                        "y": 5170.06103515625,
                        "z": 378.4720153808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3253765404224396,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0595703125,
                        "y": 5158.1005859375,
                        "z": 378.4007263183594
                    },
                    "rotation": {
                        "roll": -1.3340534898986789e-08,
                        "pitch": -0.39864397048950195,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.182861328125,
                        "y": 5093.7529296875,
                        "z": 377.7126770019531
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.25048828125,
                        "y": 5114.7080078125,
                        "z": 377.9971923828125
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.87841796875,
                        "y": 5135.70751953125,
                        "z": 378.2215881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.371219635009766,
                "transform": {
                    "location": {
                        "x": -2496.150390625,
                        "y": 5042.65869140625,
                        "z": 377.03082275390625
                    },
                    "rotation": {
                        "roll": -0.07641606032848358,
                        "pitch": -1.0530307292938232,
                        "yaw": -83.47884368896484
                    }
                },
                "velocity": {
                    "x": 1.8300118446350098,
                    "y": -16.267318725585938,
                    "z": -0.20544284582138062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.30029296875,
                        "y": 5095.4814453125,
                        "z": 377.7439270019531
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.035888671875,
                        "y": 5194.5068359375,
                        "z": 378.5718994140625
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.636154174804688,
                "transform": {
                    "location": {
                        "x": -2478.876953125,
                        "y": 4940.1005859375,
                        "z": 375.8298645019531
                    },
                    "rotation": {
                        "roll": 0.0038901097141206264,
                        "pitch": -0.8188713192939758,
                        "yaw": -84.09774780273438
                    }
                },
                "velocity": {
                    "x": 0.9880339503288269,
                    "y": -9.584370613098145,
                    "z": -0.13819915056228638
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.617919921875,
                "transform": {
                    "location": {
                        "x": -2482.132568359375,
                        "y": 4967.171875,
                        "z": 376.210693359375
                    },
                    "rotation": {
                        "roll": -0.0026549967005848885,
                        "pitch": -0.6812430024147034,
                        "yaw": -82.10356903076172
                    }
                },
                "velocity": {
                    "x": 1.3166418075561523,
                    "y": -9.526657104492188,
                    "z": -0.11682926118373871
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.252062797546387,
                "transform": {
                    "location": {
                        "x": -2484.98388671875,
                        "y": 4986.79443359375,
                        "z": 376.4114074707031
                    },
                    "rotation": {
                        "roll": 0.0004934515454806387,
                        "pitch": -0.562466025352478,
                        "yaw": -81.51771545410156
                    }
                },
                "velocity": {
                    "x": 1.364618182182312,
                    "y": -9.150419235229492,
                    "z": -0.09114474058151245
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.317869186401367,
                "transform": {
                    "location": {
                        "x": -2489.658935546875,
                        "y": 5018.58984375,
                        "z": 376.7273254394531
                    },
                    "rotation": {
                        "roll": -0.0009155107545666397,
                        "pitch": -0.6108033061027527,
                        "yaw": -82.1319580078125
                    }
                },
                "velocity": {
                    "x": 1.2819284200668335,
                    "y": -9.22873592376709,
                    "z": -0.0988524928689003
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.150131225585938,
                "transform": {
                    "location": {
                        "x": -2491.982177734375,
                        "y": 5036.60107421875,
                        "z": 376.9376525878906
                    },
                    "rotation": {
                        "roll": -0.014343244954943657,
                        "pitch": -0.6282954216003418,
                        "yaw": -83.23387908935547
                    }
                },
                "velocity": {
                    "x": 1.0780870914459229,
                    "y": -9.08566951751709,
                    "z": -0.1150847002863884
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.331595420837402,
                "transform": {
                    "location": {
                        "x": -2494.162109375,
                        "y": 5056.38623046875,
                        "z": 377.19830322265625
                    },
                    "rotation": {
                        "roll": -0.00936890672892332,
                        "pitch": -0.6816391944885254,
                        "yaw": -84.35940551757812
                    }
                },
                "velocity": {
                    "x": 0.9292944669723511,
                    "y": -9.284425735473633,
                    "z": -0.12049154937267303
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.73779296875,
                        "y": 5073.63818359375,
                        "z": 377.4263610839844
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0386657714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2937595844268799,
                        "yaw": -52.70185470581055
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.23876953125,
                        "y": 5079.73193359375,
                        "z": 377.5186767578125
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.317339897155762,
                "transform": {
                    "location": {
                        "x": -2493.35546875,
                        "y": 5020.3623046875,
                        "z": 376.76324462890625
                    },
                    "rotation": {
                        "roll": -0.05462636798620224,
                        "pitch": -0.951295018196106,
                        "yaw": -82.06645965576172
                    }
                },
                "velocity": {
                    "x": 2.0966289043426514,
                    "y": -15.172271728515625,
                    "z": -0.16498015820980072
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.819563865661621,
                "transform": {
                    "location": {
                        "x": -2487.9033203125,
                        "y": 4983.32568359375,
                        "z": 376.3824768066406
                    },
                    "rotation": {
                        "roll": 0.0006181964999996126,
                        "pitch": -0.633021891117096,
                        "yaw": -81.5211410522461
                    }
                },
                "velocity": {
                    "x": 2.1852240562438965,
                    "y": -14.656804084777832,
                    "z": -0.14949090778827667
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.162349700927734,
                "transform": {
                    "location": {
                        "x": -2484.371826171875,
                        "y": 4958.0986328125,
                        "z": 376.10162353515625
                    },
                    "rotation": {
                        "roll": -0.020019546151161194,
                        "pitch": -0.7478646636009216,
                        "yaw": -82.91558837890625
                    }
                },
                "velocity": {
                    "x": 1.861921787261963,
                    "y": -15.046273231506348,
                    "z": -0.1993691772222519
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.194091796875,
                        "y": 4915.517578125,
                        "z": 375.4703369140625
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.505428314208984,
                "transform": {
                    "location": {
                        "x": -2485.484375,
                        "y": 4937.1904296875,
                        "z": 375.8045654296875
                    },
                    "rotation": {
                        "roll": 0.23371486365795135,
                        "pitch": -0.7160360217094421,
                        "yaw": -84.41574096679688
                    }
                },
                "velocity": {
                    "x": 2.2376792430877686,
                    "y": -22.39156150817871,
                    "z": -0.3241995573043823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.245361328125,
                        "y": 4909.00341796875,
                        "z": 375.3668212890625
                    },
                    "rotation": {
                        "roll": 1.0673699080143706e-07,
                        "pitch": -0.969907283782959,
                        "yaw": -86.29124450683594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3742,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.021728515625,
                        "y": 5216.5068359375,
                        "z": 378.66107177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1530713587999344,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.56591796875,
                        "y": 5123.36279296875,
                        "z": 378.0997619628906
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05665578320622444,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            36.35667292795061,
            2.499851073590783
        ],
        "target_point_next": [
            84.91880964014507,
            15.507351920729512
        ]
    },
    "510": {
        "acceleration": [
            2.221956253051758,
            -3.93402099609375,
            0.4222235083580017
        ],
        "angular_velocity": [
            -2.9687650203704834,
            -2.8541088104248047,
            3.6588480472564697
        ],
        "forward_vector": [
            0.3086354732513428,
            -0.9511600732803345,
            -0.006217916030436754
        ],
        "right_vector": [
            0.9511460065841675,
            0.30867326259613037,
            -0.006475815083831549
        ],
        "location": [
            -2481.151123046875,
            4986.70849609375,
            376.38665771484375
        ],
        "rotation": [
            0.37104663252830505,
            -0.3562626540660858,
            -72.02262115478516
        ],
        "velocity": [
            5.460347652435303,
            -16.805694580078125,
            -0.22793637216091156
        ],
        "speed": 17.67050556165055,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.477346657227121,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 55.32111358642578,
        "front_vehicle_info": {
            "id": 3703,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -2484.935546875,
                4931.52099609375,
                375.720703125
            ],
            "velocity": [
                2.139887571334839,
                -22.904481887817383,
                -0.3438522219657898
            ],
            "speed_kmh": 82.82446415512416,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.053466796875,
                        "y": 5167.64111328125,
                        "z": 378.4591064453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3253765404224396,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.060546875,
                        "y": 5155.67529296875,
                        "z": 378.3841857910156
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2445.006103515625,
                        "y": 4917.5078125,
                        "z": 376.13677978515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.03955078125,
                        "y": 5091.427734375,
                        "z": 377.6787109375
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.154296875,
                        "y": 5112.3447265625,
                        "z": 377.9683837890625
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.82763671875,
                        "y": 5133.3134765625,
                        "z": 378.198974609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.094099044799805,
                "transform": {
                    "location": {
                        "x": -2495.700439453125,
                        "y": 5038.7646484375,
                        "z": 376.9814453125
                    },
                    "rotation": {
                        "roll": -0.08599839359521866,
                        "pitch": -1.0424507856369019,
                        "yaw": -83.05712127685547
                    }
                },
                "velocity": {
                    "x": 1.7931662797927856,
                    "y": -14.986005783081055,
                    "z": -0.1897539496421814
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.173583984375,
                        "y": 5093.4013671875,
                        "z": 377.7137756347656
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.037841796875,
                        "y": 5192.0068359375,
                        "z": 378.5628356933594
                    },
                    "rotation": {
                        "roll": -1.3340304860776087e-08,
                        "pitch": -0.21304041147232056,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3743,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.90576171875,
                        "y": 5137.1064453125,
                        "z": 378.3624267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.638761520385742,
                "transform": {
                    "location": {
                        "x": -2478.631103515625,
                        "y": 4937.7041015625,
                        "z": 375.79547119140625
                    },
                    "rotation": {
                        "roll": 0.0035461382940411568,
                        "pitch": -0.8200324773788452,
                        "yaw": -84.15349578857422
                    }
                },
                "velocity": {
                    "x": 0.9562093615531921,
                    "y": -9.590202331542969,
                    "z": -0.1393449902534485
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.617432594299316,
                "transform": {
                    "location": {
                        "x": -2481.811279296875,
                        "y": 4964.7890625,
                        "z": 376.1815490722656
                    },
                    "rotation": {
                        "roll": -0.008819537237286568,
                        "pitch": -0.7061732411384583,
                        "yaw": -82.36506652832031
                    }
                },
                "velocity": {
                    "x": 1.2640777826309204,
                    "y": -9.533259391784668,
                    "z": -0.11868193000555038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.29240894317627,
                "transform": {
                    "location": {
                        "x": -2484.64208984375,
                        "y": 4984.501953125,
                        "z": 376.388671875
                    },
                    "rotation": {
                        "roll": 0.00035094443592242897,
                        "pitch": -0.5607858300209045,
                        "yaw": -81.51731872558594
                    }
                },
                "velocity": {
                    "x": 1.3706440925598145,
                    "y": -9.190303802490234,
                    "z": -0.09227368980646133
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.974074363708496,
                "transform": {
                    "location": {
                        "x": -2489.34423828125,
                        "y": 5016.33154296875,
                        "z": 376.7032775878906
                    },
                    "rotation": {
                        "roll": -0.000518829736392945,
                        "pitch": -0.6046082973480225,
                        "yaw": -82.01754760742188
                    }
                },
                "velocity": {
                    "x": 1.255089282989502,
                    "y": -8.8853759765625,
                    "z": -0.09413273632526398
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.879504203796387,
                "transform": {
                    "location": {
                        "x": -2491.708740234375,
                        "y": 5034.33837890625,
                        "z": 376.9097595214844
                    },
                    "rotation": {
                        "roll": -0.03549196943640709,
                        "pitch": -0.7142055034637451,
                        "yaw": -83.06937408447266
                    }
                },
                "velocity": {
                    "x": 1.0820598602294922,
                    "y": -8.812663078308105,
                    "z": -0.10817276686429977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.139128684997559,
                "transform": {
                    "location": {
                        "x": -2493.928466796875,
                        "y": 5054.06884765625,
                        "z": 377.168701171875
                    },
                    "rotation": {
                        "roll": -0.0180664099752903,
                        "pitch": -0.7168556451797485,
                        "yaw": -84.17327117919922
                    }
                },
                "velocity": {
                    "x": 0.9315478801727295,
                    "y": -9.090773582458496,
                    "z": -0.11716369539499283
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.5458984375,
                        "y": 5071.3125,
                        "z": 377.3944091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.05389392375946045,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.03472900390625
                    },
                    "rotation": {
                        "roll": -0.0025940120685845613,
                        "pitch": -0.29515978693962097,
                        "yaw": -52.70188522338867
                    }
                },
                "velocity": {
                    "x": -0.0002810368314385414,
                    "y": 0.00011813391029136255,
                    "z": -0.053893059492111206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.0810546875,
                        "y": 5077.65380859375,
                        "z": 377.4896545410156
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.587098121643066,
                "transform": {
                    "location": {
                        "x": -2492.8408203125,
                        "y": 5016.67333984375,
                        "z": 376.7224426269531
                    },
                    "rotation": {
                        "roll": -0.039459213614463806,
                        "pitch": -0.7868036031723022,
                        "yaw": -81.86509704589844
                    }
                },
                "velocity": {
                    "x": 2.0448720455169678,
                    "y": -14.442252159118652,
                    "z": -0.1525801569223404
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.725115776062012,
                "transform": {
                    "location": {
                        "x": -2487.361572265625,
                        "y": 4979.68603515625,
                        "z": 376.3441467285156
                    },
                    "rotation": {
                        "roll": 0.0019921886269003153,
                        "pitch": -0.6325711011886597,
                        "yaw": -81.54924774169922
                    }
                },
                "velocity": {
                    "x": 2.1575839519500732,
                    "y": -14.565351486206055,
                    "z": -0.15625010430812836
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.839325904846191,
                "transform": {
                    "location": {
                        "x": -2483.897705078125,
                        "y": 4954.2509765625,
                        "z": 376.0503845214844
                    },
                    "rotation": {
                        "roll": -0.008331237360835075,
                        "pitch": -0.8364249467849731,
                        "yaw": -83.02532958984375
                    }
                },
                "velocity": {
                    "x": 1.927342176437378,
                    "y": -15.72015380859375,
                    "z": -0.21535669267177582
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2480.194091796875,
                        "y": 4915.517578125,
                        "z": 375.4703369140625
                    },
                    "rotation": {
                        "roll": 1.0673625183699187e-07,
                        "pitch": -0.946233868598938,
                        "yaw": -85.94032287597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2479.5458984375,
                        "y": 4906.01904296875,
                        "z": 375.3125305175781
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 23.00679588317871,
                "transform": {
                    "location": {
                        "x": -2484.935546875,
                        "y": 4931.52099609375,
                        "z": 375.720703125
                    },
                    "rotation": {
                        "roll": 0.2209705114364624,
                        "pitch": -0.6592361330986023,
                        "yaw": -84.77197265625
                    }
                },
                "velocity": {
                    "x": 2.139887571334839,
                    "y": -22.904481887817383,
                    "z": -0.3438522219657898
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.0087890625,
                        "y": 4905.26123046875,
                        "z": 375.30328369140625
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3742,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02294921875,
                        "y": 5214.0068359375,
                        "z": 378.64556884765625
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.500732421875,
                        "y": 5121.27978515625,
                        "z": 378.0770568847656
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05747956782579422,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            32.09923717952163,
            2.1733183494235746
        ],
        "target_point_next": [
            80.78386140970281,
            14.714592762665383
        ]
    },
    "515": {
        "acceleration": [
            2.7686119079589844,
            -4.3170928955078125,
            1.3895505666732788
        ],
        "angular_velocity": [
            7.129485130310059,
            2.0285379886627197,
            3.5934081077575684
        ],
        "forward_vector": [
            0.32345330715179443,
            -0.9462325572967529,
            -0.004683477338403463
        ],
        "right_vector": [
            0.9462440609931946,
            0.32345184683799744,
            0.0010902859503403306
        ],
        "location": [
            -2479.732666015625,
            4982.43994140625,
            376.3489074707031
        ],
        "rotation": [
            -0.0624694861471653,
            -0.2683444619178772,
            -71.12789154052734
        ],
        "velocity": [
            5.896977424621582,
            -17.354904174804688,
            -0.10115429759025574
        ],
        "speed": 18.32940374543454,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4733723899985938,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 56.75160598754883,
        "front_vehicle_info": {
            "id": 3703,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -2484.42578125,
                4925.88720703125,
                375.63623046875
            ],
            "velocity": [
                1.917933464050293,
                -22.042911529541016,
                -0.3410477340221405
            ],
            "speed_kmh": 79.66375659062513,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05419921875,
                        "y": 5165.2451171875,
                        "z": 378.4455261230469
                    },
                    "rotation": {
                        "roll": 1.3340479831924767e-08,
                        "pitch": -0.3619931638240814,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05810546875,
                        "y": 5153.2451171875,
                        "z": 378.36639404296875
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2444.9990234375,
                        "y": 4917.4990234375,
                        "z": 376.1363525390625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.88623046875,
                        "y": 5089.11865234375,
                        "z": 377.645263671875
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.052978515625,
                        "y": 5110.06787109375,
                        "z": 377.939453125
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.7763671875,
                        "y": 5131.01123046875,
                        "z": 378.17681884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.490142822265625,
                "transform": {
                    "location": {
                        "x": -2495.257568359375,
                        "y": 5035.11767578125,
                        "z": 376.9342956542969
                    },
                    "rotation": {
                        "roll": -0.05105594918131828,
                        "pitch": -0.8756096959114075,
                        "yaw": -82.85555267333984
                    }
                },
                "velocity": {
                    "x": 1.7838038206100464,
                    "y": -14.378814697265625,
                    "z": -0.17883342504501343
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2504.046142578125,
                        "y": 5091.32177734375,
                        "z": 377.68365478515625
                    },
                    "rotation": {
                        "roll": -2.6683210307965055e-08,
                        "pitch": -0.8279691338539124,
                        "yaw": -86.3648910522461
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0390625,
                        "y": 5189.5068359375,
                        "z": 378.5535583496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3743,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.864990234375,
                        "y": 5135.029296875,
                        "z": 378.2630310058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.637133598327637,
                "transform": {
                    "location": {
                        "x": -2478.394287109375,
                        "y": 4935.306640625,
                        "z": 375.7606506347656
                    },
                    "rotation": {
                        "roll": 0.004050522111356258,
                        "pitch": -0.838378369808197,
                        "yaw": -84.4248046875
                    }
                },
                "velocity": {
                    "x": 0.930245578289032,
                    "y": -9.591129302978516,
                    "z": -0.13863611221313477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618025779724121,
                "transform": {
                    "location": {
                        "x": -2481.4951171875,
                        "y": 4962.40576171875,
                        "z": 376.15155029296875
                    },
                    "rotation": {
                        "roll": -0.0034790518693625927,
                        "pitch": -0.7157832980155945,
                        "yaw": -82.42903137207031
                    }
                },
                "velocity": {
                    "x": 1.2625148296356201,
                    "y": -9.534008979797363,
                    "z": -0.12310433387756348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.25236988067627,
                "transform": {
                    "location": {
                        "x": -2484.300537109375,
                        "y": 4982.20947265625,
                        "z": 376.3651428222656
                    },
                    "rotation": {
                        "roll": -0.00030518724815919995,
                        "pitch": -0.5967057943344116,
                        "yaw": -81.51760864257812
                    }
                },
                "velocity": {
                    "x": 1.3647310733795166,
                    "y": -9.150660514831543,
                    "z": -0.09629179537296295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.932662010192871,
                "transform": {
                    "location": {
                        "x": -2489.029541015625,
                        "y": 5014.12060546875,
                        "z": 376.68023681640625
                    },
                    "rotation": {
                        "roll": -0.0011291216360405087,
                        "pitch": -0.5874303579330444,
                        "yaw": -81.84947967529297
                    }
                },
                "velocity": {
                    "x": 1.273226261138916,
                    "y": -8.84097957611084,
                    "z": -0.09181228280067444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017111778259277,
                "transform": {
                    "location": {
                        "x": -2491.456298828125,
                        "y": 5032.28759765625,
                        "z": 376.8856506347656
                    },
                    "rotation": {
                        "roll": -0.021850623190402985,
                        "pitch": -0.9635893702507019,
                        "yaw": -82.95409393310547
                    }
                },
                "velocity": {
                    "x": 0.9868641495704651,
                    "y": -7.955568790435791,
                    "z": -0.09544874727725983
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.704833984375,
                        "y": 5051.89501953125,
                        "z": 377.1413879394531
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.353759765625,
                        "y": 5069.08837890625,
                        "z": 377.3640441894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.01542180497199297,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0254211425781
                    },
                    "rotation": {
                        "roll": -0.006622331216931343,
                        "pitch": -0.29827433824539185,
                        "yaw": -52.70188522338867
                    }
                },
                "velocity": {
                    "x": -6.624126399401575e-05,
                    "y": 3.569696127669886e-05,
                    "z": -0.01542162150144577
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.917236328125,
                        "y": 5075.576171875,
                        "z": 377.4608459472656
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.355472564697266,
                "transform": {
                    "location": {
                        "x": -2492.32958984375,
                        "y": 5013.10205078125,
                        "z": 376.6842956542969
                    },
                    "rotation": {
                        "roll": -0.03393559157848358,
                        "pitch": -0.6359793543815613,
                        "yaw": -81.73375701904297
                    }
                },
                "velocity": {
                    "x": 2.0602619647979736,
                    "y": -14.206113815307617,
                    "z": -0.1457587629556656
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.188673973083496,
                "transform": {
                    "location": {
                        "x": -2486.815673828125,
                        "y": 4975.9912109375,
                        "z": 376.3038635253906
                    },
                    "rotation": {
                        "roll": 0.006554914638400078,
                        "pitch": -0.6016849875450134,
                        "yaw": -81.64176940917969
                    }
                },
                "velocity": {
                    "x": 2.191135883331299,
                    "y": -15.0288724899292,
                    "z": -0.16658788919448853
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 16.466398239135742,
                "transform": {
                    "location": {
                        "x": -2483.415771484375,
                        "y": 4950.25830078125,
                        "z": 375.9947509765625
                    },
                    "rotation": {
                        "roll": -0.02035522274672985,
                        "pitch": -0.8565329909324646,
                        "yaw": -83.24205017089844
                    }
                },
                "velocity": {
                    "x": 1.91526198387146,
                    "y": -16.352991104125977,
                    "z": -0.23175744712352753
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.034099142998456955,
                "transform": {
                    "location": {
                        "x": -2480.194091796875,
                        "y": 4915.517578125,
                        "z": 375.46533203125
                    },
                    "rotation": {
                        "roll": 0.0002743115765042603,
                        "pitch": -0.9386523365974426,
                        "yaw": -85.94036102294922
                    }
                },
                "velocity": {
                    "x": -0.00022695519146509469,
                    "y": 0.0005322861834429204,
                    "z": -0.03409423306584358
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3744,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.560791015625,
                        "y": 5155.4658203125,
                        "z": 378.7334289550781
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 22.128820419311523,
                "transform": {
                    "location": {
                        "x": -2484.42578125,
                        "y": 4925.88720703125,
                        "z": 375.63623046875
                    },
                    "rotation": {
                        "roll": 0.21955840289592743,
                        "pitch": -1.0164823532104492,
                        "yaw": -85.16557312011719
                    }
                },
                "velocity": {
                    "x": 1.917933464050293,
                    "y": -22.042911529541016,
                    "z": -0.3410477340221405
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.0087890625,
                        "y": 4905.26123046875,
                        "z": 375.30328369140625
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3742,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02490234375,
                        "y": 5211.5068359375,
                        "z": 378.6279602050781
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.426025390625,
                        "y": 5119.1962890625,
                        "z": 378.05322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4403556287288666,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06222807615995407,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            27.631361821561246,
            1.7102906483913713
        ],
        "target_point_next": [
            76.50589050903366,
            13.489791737979786
        ]
    },
    "520": {
        "acceleration": [
            1.9848251342773438,
            -2.7163314819335938,
            0.24435937404632568
        ],
        "angular_velocity": [
            0.6956015825271606,
            -3.1487393379211426,
            3.370060682296753
        ],
        "forward_vector": [
            0.3394773304462433,
            -0.9406112432479858,
            0.002378580393269658
        ],
        "right_vector": [
            0.9405850172042847,
            0.33948561549186707,
            0.007026406470686197
        ],
        "location": [
            -2478.182373046875,
            4977.99072265625,
            376.3065185546875
        ],
        "rotation": [
            -0.4025878608226776,
            0.1362827569246292,
            -70.1549072265625
        ],
        "velocity": [
            6.462947845458984,
            -18.12398338317871,
            -0.12670424580574036
        ],
        "speed": 19.241841609546135,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.468883611029251,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 57.75729751586914,
        "front_vehicle_info": {
            "id": 3703,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                -2483.97705078125,
                4920.52978515625,
                375.55316162109375
            ],
            "velocity": [
                1.6602140665054321,
                -20.750648498535156,
                -0.3293589949607849
            ],
            "speed_kmh": 74.95042660054115,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.056396484375,
                        "y": 5162.82470703125,
                        "z": 378.4309997558594
                    },
                    "rotation": {
                        "roll": 1.3340479831924767e-08,
                        "pitch": -0.3619931638240814,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05419921875,
                        "y": 5150.82470703125,
                        "z": 378.34857177734375
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2443.48779296875,
                        "y": 4915.79736328125,
                        "z": 376.0478515625
                    },
                    "rotation": {
                        "roll": 1.3340271109996138e-08,
                        "pitch": 0.17048151791095734,
                        "yaw": -47.17609786987305
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.7353515625,
                        "y": 5086.8564453125,
                        "z": 377.6125793457031
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.945556640625,
                        "y": 5107.7265625,
                        "z": 377.9090881347656
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.716064453125,
                        "y": 5128.6826171875,
                        "z": 378.1533203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.580824851989746,
                "transform": {
                    "location": {
                        "x": -2494.825927734375,
                        "y": 5031.67041015625,
                        "z": 376.89202880859375
                    },
                    "rotation": {
                        "roll": -0.029022185131907463,
                        "pitch": -0.856935977935791,
                        "yaw": -82.72612762451172
                    }
                },
                "velocity": {
                    "x": 1.7077813148498535,
                    "y": -13.472050666809082,
                    "z": -0.1616804152727127
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.909423828125,
                        "y": 5089.244140625,
                        "z": 377.6536560058594
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.040771484375,
                        "y": 5187.0068359375,
                        "z": 378.5441589355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3743,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.82177734375,
                        "y": 5132.9462890625,
                        "z": 378.2174377441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5553900003433228,
                        "yaw": -88.65673065185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.637286186218262,
                "transform": {
                    "location": {
                        "x": -2478.16259765625,
                        "y": 4932.90869140625,
                        "z": 375.725341796875
                    },
                    "rotation": {
                        "roll": 0.004288437310606241,
                        "pitch": -0.8449353575706482,
                        "yaw": -84.50054168701172
                    }
                },
                "velocity": {
                    "x": 0.8985611796379089,
                    "y": -9.594243049621582,
                    "z": -0.14275985956192017
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.617586135864258,
                "transform": {
                    "location": {
                        "x": -2481.1845703125,
                        "y": 4960.02197265625,
                        "z": 376.1208801269531
                    },
                    "rotation": {
                        "roll": -0.009765636175870895,
                        "pitch": -0.7394772171974182,
                        "yaw": -82.62975311279297
                    }
                },
                "velocity": {
                    "x": 1.2182583808898926,
                    "y": -9.539319038391113,
                    "z": -0.12326405942440033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.292335510253906,
                "transform": {
                    "location": {
                        "x": -2483.9599609375,
                        "y": 4979.9169921875,
                        "z": 376.34088134765625
                    },
                    "rotation": {
                        "roll": 0.002133273985236883,
                        "pitch": -0.6093689799308777,
                        "yaw": -81.56256866455078
                    }
                },
                "velocity": {
                    "x": 1.363433599472046,
                    "y": -9.191219329833984,
                    "z": -0.10016316175460815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.960549354553223,
                "transform": {
                    "location": {
                        "x": -2488.71044921875,
                        "y": 5011.9072265625,
                        "z": 376.6575622558594
                    },
                    "rotation": {
                        "roll": -0.0008850338053889573,
                        "pitch": -0.572021484375,
                        "yaw": -81.75102233886719
                    }
                },
                "velocity": {
                    "x": 1.2869352102279663,
                    "y": -8.867206573486328,
                    "z": -0.08880292624235153
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.714790344238281,
                "transform": {
                    "location": {
                        "x": -2491.197021484375,
                        "y": 5030.224609375,
                        "z": 376.8597717285156
                    },
                    "rotation": {
                        "roll": -0.03677366301417351,
                        "pitch": -0.6255155205726624,
                        "yaw": -82.81523132324219
                    }
                },
                "velocity": {
                    "x": 1.1036286354064941,
                    "y": -8.644018173217773,
                    "z": -0.10255908966064453
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.4619140625,
                        "y": 5049.564453125,
                        "z": 377.1092834472656
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2495.15625,
                        "y": 5066.81103515625,
                        "z": 377.3331298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010198143718298525,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0242004394531
                    },
                    "rotation": {
                        "roll": -0.007415764965116978,
                        "pitch": -0.29836997389793396,
                        "yaw": -52.701881408691406
                    }
                },
                "velocity": {
                    "x": 1.6506202882737853e-05,
                    "y": 4.083924068254419e-06,
                    "z": -0.00010055387247120962
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.749267578125,
                        "y": 5073.5009765625,
                        "z": 377.4322509765625
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.691462516784668,
                "transform": {
                    "location": {
                        "x": -2491.80712890625,
                        "y": 5009.52099609375,
                        "z": 376.647216796875
                    },
                    "rotation": {
                        "roll": -0.02255249209702015,
                        "pitch": -0.4937748312950134,
                        "yaw": -81.64176940917969
                    }
                },
                "velocity": {
                    "x": 2.140389919281006,
                    "y": -14.534002304077148,
                    "z": -0.1434105634689331
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.793456077575684,
                "transform": {
                    "location": {
                        "x": -2486.260498046875,
                        "y": 4972.15771484375,
                        "z": 376.2606506347656
                    },
                    "rotation": {
                        "roll": 0.006075185723602772,
                        "pitch": -0.6118756532669067,
                        "yaw": -81.8528823852539
                    }
                },
                "velocity": {
                    "x": 2.2431929111480713,
                    "y": -15.632293701171875,
                    "z": -0.18090972304344177
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 16.61243438720703,
                "transform": {
                    "location": {
                        "x": -2482.933837890625,
                        "y": 4946.0849609375,
                        "z": 375.93505859375
                    },
                    "rotation": {
                        "roll": -0.02438357286155224,
                        "pitch": -0.8365136981010437,
                        "yaw": -83.58326721191406
                    }
                },
                "velocity": {
                    "x": 1.841469407081604,
                    "y": -16.508365631103516,
                    "z": -0.23634032905101776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.008815399371087551,
                "transform": {
                    "location": {
                        "x": -2480.194091796875,
                        "y": 4915.517578125,
                        "z": 375.46038818359375
                    },
                    "rotation": {
                        "roll": 0.0016278809634968638,
                        "pitch": -0.9310025572776794,
                        "yaw": -85.94049835205078
                    }
                },
                "velocity": {
                    "x": -7.466811803169549e-05,
                    "y": 0.00011779129272326827,
                    "z": -0.008814295753836632
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3744,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.556884765625,
                        "y": 5152.1455078125,
                        "z": 378.4306640625
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 20.819562911987305,
                "transform": {
                    "location": {
                        "x": -2483.97705078125,
                        "y": 4920.52978515625,
                        "z": 375.55316162109375
                    },
                    "rotation": {
                        "roll": 0.22963492572307587,
                        "pitch": -1.311314344406128,
                        "yaw": -85.58111572265625
                    }
                },
                "velocity": {
                    "x": 1.6602140665054321,
                    "y": -20.750648498535156,
                    "z": -0.3293589949607849
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2483.0087890625,
                        "y": 4905.26123046875,
                        "z": 375.30328369140625
                    },
                    "rotation": {
                        "roll": -5.336861619298361e-08,
                        "pitch": -0.9774751663208008,
                        "yaw": -86.64216613769531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3742,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.026611328125,
                        "y": 5209.0068359375,
                        "z": 378.62005615234375
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.3515625,
                        "y": 5117.11279296875,
                        "z": 378.0294494628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0856950432062149,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            22.945132410419667,
            1.2930232949251943
        ],
        "target_point_next": [
            72.01264164188348,
            12.24088784297259
        ]
    },
    "525": {
        "acceleration": [
            2.265472412109375,
            -2.2335433959960938,
            1.5673576593399048
        ],
        "angular_velocity": [
            -6.038482666015625,
            1.767956256866455,
            3.157576560974121
        ],
        "forward_vector": [
            0.3521575927734375,
            -0.9359406232833862,
            0.0003710984892677516
        ],
        "right_vector": [
            0.9358842372894287,
            0.3521406948566437,
            0.01084098406136036
        ],
        "location": [
            -2476.50146484375,
            4973.3779296875,
            376.27337646484375
        ],
        "rotation": [
            -0.6211548447608948,
            0.021262377500534058,
            -69.38066101074219
        ],
        "velocity": [
            6.979093074798584,
            -18.74260139465332,
            -0.07289869338274002
        ],
        "speed": 19.99982117883963,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4639764327911466,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 54.09361267089844,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2451.29345703125,
                4925.517578125,
                376.0242919921875
            ],
            "velocity": [
                -0.0001034891974995844,
                -0.00010568603465799242,
                0.0015227620024234056
            ],
            "speed_kmh": 0.005507745485820138,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05810546875,
                        "y": 5160.36474609375,
                        "z": 378.4158020019531
                    },
                    "rotation": {
                        "roll": -1.3340534898986789e-08,
                        "pitch": -0.39864397048950195,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0390625,
                        "y": 5148.40478515625,
                        "z": 378.32916259765625
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2439.9140625,
                        "y": 4912.06787109375,
                        "z": 376.0309143066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17048151791095734,
                        "yaw": -44.41305923461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.57373046875,
                        "y": 5084.57861328125,
                        "z": 377.5799865722656
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.836181640625,
                        "y": 5105.4677734375,
                        "z": 377.87908935546875
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.656494140625,
                        "y": 5126.40380859375,
                        "z": 378.1301574707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.8760347366333,
                "transform": {
                    "location": {
                        "x": -2494.390869140625,
                        "y": 5028.275390625,
                        "z": 376.8502502441406
                    },
                    "rotation": {
                        "roll": -0.026428209617733955,
                        "pitch": -0.6552404761314392,
                        "yaw": -82.61589813232422
                    }
                },
                "velocity": {
                    "x": 1.7841360569000244,
                    "y": -13.759902954101562,
                    "z": -0.16205286979675293
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.772216796875,
                        "y": 5087.166015625,
                        "z": 377.6238098144531
                    },
                    "rotation": {
                        "roll": 2.6683125042836764e-08,
                        "pitch": -0.8152171969413757,
                        "yaw": -86.07839965820312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.042236328125,
                        "y": 5184.5068359375,
                        "z": 378.53472900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3743,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.775146484375,
                        "y": 5130.86279296875,
                        "z": 378.1814270019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.61851978302002,
                "transform": {
                    "location": {
                        "x": -2480.8798828125,
                        "y": 4957.63720703125,
                        "z": 376.0895690917969
                    },
                    "rotation": {
                        "roll": -0.004974322393536568,
                        "pitch": -0.7483223080635071,
                        "yaw": -82.70634460449219
                    }
                },
                "velocity": {
                    "x": 1.216248631477356,
                    "y": -9.540465354919434,
                    "z": -0.12717197835445404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.55091381072998,
                "transform": {
                    "location": {
                        "x": -2483.61767578125,
                        "y": 4977.60498046875,
                        "z": 376.31591796875
                    },
                    "rotation": {
                        "roll": 0.000829298747703433,
                        "pitch": -0.5932906866073608,
                        "yaw": -81.58208465576172
                    }
                },
                "velocity": {
                    "x": 1.3981740474700928,
                    "y": -9.447466850280762,
                    "z": -0.1021614745259285
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.017021179199219,
                "transform": {
                    "location": {
                        "x": -2488.3857421875,
                        "y": 5009.68310546875,
                        "z": 376.6353454589844
                    },
                    "rotation": {
                        "roll": -9.154489089269191e-05,
                        "pitch": -0.5587367415428162,
                        "yaw": -81.65731048583984
                    }
                },
                "velocity": {
                    "x": 1.311911940574646,
                    "y": -8.920648574829102,
                    "z": -0.08714956790208817
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.792098045349121,
                "transform": {
                    "location": {
                        "x": -2490.914794921875,
                        "y": 5028.021484375,
                        "z": 376.8336486816406
                    },
                    "rotation": {
                        "roll": -0.024780292063951492,
                        "pitch": -0.5809621810913086,
                        "yaw": -82.6797103881836
                    }
                },
                "velocity": {
                    "x": 1.1240381002426147,
                    "y": -8.7193603515625,
                    "z": -0.10145546495914459
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2493.21826171875,
                        "y": 5047.251953125,
                        "z": 377.0780334472656
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.78658294677734
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.948486328125,
                        "y": 5064.53564453125,
                        "z": 377.3026428222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015299292281270027,
                "transform": {
                    "location": {
                        "x": -2451.29345703125,
                        "y": 4925.517578125,
                        "z": 376.0242919921875
                    },
                    "rotation": {
                        "roll": -0.008178701624274254,
                        "pitch": -0.29861584305763245,
                        "yaw": -52.70188522338867
                    }
                },
                "velocity": {
                    "x": -0.0001034891974995844,
                    "y": -0.00010568603465799242,
                    "z": 0.0015227620024234056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.58056640625,
                        "y": 5071.42529296875,
                        "z": 377.40386962890625
                    },
                    "rotation": {
                        "roll": 2.6682879905592927e-08,
                        "pitch": -0.7769749760627747,
                        "yaw": -85.21898651123047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.402216911315918,
                "transform": {
                    "location": {
                        "x": -2491.255615234375,
                        "y": 5005.79150390625,
                        "z": 376.610107421875
                    },
                    "rotation": {
                        "roll": -0.015136690810322762,
                        "pitch": -0.36734122037887573,
                        "yaw": -81.52995300292969
                    }
                },
                "velocity": {
                    "x": 2.265247344970703,
                    "y": -15.234058380126953,
                    "z": -0.1427975744009018
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.869017601013184,
                "transform": {
                    "location": {
                        "x": -2485.70263671875,
                        "y": 4968.20947265625,
                        "z": 376.21441650390625
                    },
                    "rotation": {
                        "roll": 0.011964120902121067,
                        "pitch": -0.6646115183830261,
                        "yaw": -82.10975646972656
                    }
                },
                "velocity": {
                    "x": 2.1777946949005127,
                    "y": -15.717748641967773,
                    "z": -0.18792277574539185
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.329329490661621,
                "transform": {
                    "location": {
                        "x": -2482.49755859375,
                        "y": 4942.1171875,
                        "z": 375.8774108886719
                    },
                    "rotation": {
                        "roll": -0.023895276710391045,
                        "pitch": -0.7052033543586731,
                        "yaw": -83.87651824951172
                    }
                },
                "velocity": {
                    "x": 1.6104443073272705,
                    "y": -15.242965698242188,
                    "z": -0.2163171023130417
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.3808300495147705,
                "transform": {
                    "location": {
                        "x": -2480.193603515625,
                        "y": 4915.51220703125,
                        "z": 375.4592590332031
                    },
                    "rotation": {
                        "roll": 0.0011617090785875916,
                        "pitch": -0.921044111251831,
                        "yaw": -85.94115447998047
                    }
                },
                "velocity": {
                    "x": 0.031102370470762253,
                    "y": -0.37947791814804077,
                    "z": -0.007789687719196081
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3744,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.501220703125,
                        "y": 5144.08056640625,
                        "z": 378.30419921875
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 18.836936950683594,
                "transform": {
                    "location": {
                        "x": -2483.598388671875,
                        "y": 4915.60205078125,
                        "z": 375.4750061035156
                    },
                    "rotation": {
                        "roll": 0.22348791360855103,
                        "pitch": -1.642059326171875,
                        "yaw": -85.97427368164062
                    }
                },
                "velocity": {
                    "x": 1.372065544128418,
                    "y": -18.784400939941406,
                    "z": -0.30642426013946533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011296378215774894,
                "transform": {
                    "location": {
                        "x": -2483.0087890625,
                        "y": 4905.26123046875,
                        "z": 375.3031311035156
                    },
                    "rotation": {
                        "roll": -0.0005493766511790454,
                        "pitch": -0.9781513214111328,
                        "yaw": -86.64215087890625
                    }
                },
                "velocity": {
                    "x": -0.00010246969759464264,
                    "y": -7.248401379911229e-05,
                    "z": -0.0011226431233808398
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3742,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.0283203125,
                        "y": 5206.5068359375,
                        "z": 378.6120910644531
                    },
                    "rotation": {
                        "roll": 6.670138219533328e-09,
                        "pitch": -0.17706581950187683,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.26904296875,
                        "y": 5115.02978515625,
                        "z": 378.0046081542969
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1444682627916336,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            18.051264308269687,
            1.0340565597309048
        ],
        "target_point_next": [
            67.26222800135888,
            11.31789109455476
        ]
    },
    "530": {
        "acceleration": [
            2.52532958984375,
            -2.1749496459960938,
            -0.597633957862854
        ],
        "angular_velocity": [
            1.082512378692627,
            0.1258067637681961,
            4.9746294021606445
        ],
        "forward_vector": [
            0.36710721254348755,
            -0.9301748275756836,
            0.002655383665114641
        ],
        "right_vector": [
            0.9301419854164124,
            0.3671166002750397,
            0.00782585795968771
        ],
        "location": [
            -2474.6884765625,
            4968.615234375,
            376.2631530761719
        ],
        "rotation": [
            -0.4483948051929474,
            0.1521424502134323,
            -68.46260070800781
        ],
        "velocity": [
            7.559141635894775,
            -19.306594848632812,
            -0.05550920218229294
        ],
        "speed": 20.733673743955098,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.458547043769111,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 49.16622543334961,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2451.214111328125,
                4925.41552734375,
                376.0235595703125
            ],
            "velocity": [
                0.5763096213340759,
                -0.7349861860275269,
                -0.004283151589334011
            ],
            "speed_kmh": 3.3623996505630402,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.059814453125,
                        "y": 5157.9443359375,
                        "z": 378.3996887207031
                    },
                    "rotation": {
                        "roll": -1.3340534898986789e-08,
                        "pitch": -0.39864397048950195,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.022705078125,
                        "y": 5145.9443359375,
                        "z": 378.309326171875
                    },
                    "rotation": {
                        "roll": -2.6681318487931094e-08,
                        "pitch": -0.4684416651725769,
                        "yaw": -89.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2435.54638671875,
                        "y": 4907.986328125,
                        "z": 376.04486083984375
                    },
                    "rotation": {
                        "roll": 6.670135554998069e-09,
                        "pitch": 0.17048151791095734,
                        "yaw": -41.650001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.404541015625,
                        "y": 5082.1904296875,
                        "z": 377.5458984375
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.716796875,
                        "y": 5103.12841796875,
                        "z": 377.84710693359375
                    },
                    "rotation": {
                        "roll": 2.668298826336013e-08,
                        "pitch": -0.793975293636322,
                        "yaw": -86.93783569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.584228515625,
                        "y": 5124.05517578125,
                        "z": 378.1047058105469
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.902342796325684,
                "transform": {
                    "location": {
                        "x": -2493.9228515625,
                        "y": 5024.69189453125,
                        "z": 376.8067932128906
                    },
                    "rotation": {
                        "roll": -0.030212393030524254,
                        "pitch": -0.40649184584617615,
                        "yaw": -82.45572662353516
                    }
                },
                "velocity": {
                    "x": 1.9609256982803345,
                    "y": -14.771822929382324,
                    "z": -0.16681475937366486
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.62744140625,
                        "y": 5085.087890625,
                        "z": 377.5942077636719
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.044189453125,
                        "y": 5182.0068359375,
                        "z": 378.52532958984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21599788963794708,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3743,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.72119140625,
                        "y": 5128.77978515625,
                        "z": 378.15838623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618639945983887,
                "transform": {
                    "location": {
                        "x": -2480.5830078125,
                        "y": 4955.2509765625,
                        "z": 376.05767822265625
                    },
                    "rotation": {
                        "roll": -0.010986335575580597,
                        "pitch": -0.7690451145172119,
                        "yaw": -82.966552734375
                    }
                },
                "velocity": {
                    "x": 1.1567137241363525,
                    "y": -9.547974586486816,
                    "z": -0.12819664180278778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.497672080993652,
                "transform": {
                    "location": {
                        "x": -2483.2685546875,
                        "y": 4975.2158203125,
                        "z": 376.289794921875
                    },
                    "rotation": {
                        "roll": 0.0040155746974051,
                        "pitch": -0.6408356428146362,
                        "yaw": -81.73089599609375
                    }
                },
                "velocity": {
                    "x": 1.354570746421814,
                    "y": -9.39998722076416,
                    "z": -0.10563846677541733
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.31074333190918,
                "transform": {
                    "location": {
                        "x": -2488.052978515625,
                        "y": 5007.42333984375,
                        "z": 376.61328125
                    },
                    "rotation": {
                        "roll": 0.0005879823584109545,
                        "pitch": -0.5371124148368835,
                        "yaw": -81.60478973388672
                    }
                },
                "velocity": {
                    "x": 1.360008716583252,
                    "y": -9.210461616516113,
                    "z": -0.08776107430458069
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.572920799255371,
                "transform": {
                    "location": {
                        "x": -2490.63916015625,
                        "y": 5025.89013671875,
                        "z": 376.8094482421875
                    },
                    "rotation": {
                        "roll": -0.02639773115515709,
                        "pitch": -0.7118832468986511,
                        "yaw": -82.61064147949219
                    }
                },
                "velocity": {
                    "x": 1.11829674243927,
                    "y": -8.49909496307373,
                    "z": -0.09882775694131851
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.977783203125,
                        "y": 5045.08740234375,
                        "z": 377.05029296875
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.74365234375,
                        "y": 5062.2919921875,
                        "z": 377.2725830078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9339998960494995,
                "transform": {
                    "location": {
                        "x": -2451.214111328125,
                        "y": 4925.41552734375,
                        "z": 376.0235595703125
                    },
                    "rotation": {
                        "roll": -0.010192851535975933,
                        "pitch": -0.2805500030517578,
                        "yaw": -52.650535583496094
                    }
                },
                "velocity": {
                    "x": 0.5763096213340759,
                    "y": -0.7349861860275269,
                    "z": -0.004283151589334011
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.40234375,
                        "y": 5069.349609375,
                        "z": 377.375732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.326624870300293,
                "transform": {
                    "location": {
                        "x": -2490.686279296875,
                        "y": 5001.9658203125,
                        "z": 376.5754089355469
                    },
                    "rotation": {
                        "roll": -0.006652822718024254,
                        "pitch": -0.49206045269966125,
                        "yaw": -81.49403381347656
                    }
                },
                "velocity": {
                    "x": 2.2630624771118164,
                    "y": -15.15796184539795,
                    "z": -0.14202046394348145
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.804304122924805,
                "transform": {
                    "location": {
                        "x": -2485.18359375,
                        "y": 4964.4091796875,
                        "z": 376.1684265136719
                    },
                    "rotation": {
                        "roll": 0.014364085160195827,
                        "pitch": -0.7607396245002747,
                        "yaw": -82.39530181884766
                    }
                },
                "velocity": {
                    "x": 1.9546903371810913,
                    "y": -14.673541069030762,
                    "z": -0.18383696675300598
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.63284969329834,
                "transform": {
                    "location": {
                        "x": -2482.118896484375,
                        "y": 4938.47412109375,
                        "z": 375.8249206542969
                    },
                    "rotation": {
                        "roll": -0.015197720378637314,
                        "pitch": -0.666961133480072,
                        "yaw": -84.18130493164062
                    }
                },
                "velocity": {
                    "x": 1.3836429119110107,
                    "y": -13.561053276062012,
                    "z": -0.19481989741325378
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2900630235671997,
                "transform": {
                    "location": {
                        "x": -2480.17138671875,
                        "y": 4915.2373046875,
                        "z": 375.45465087890625
                    },
                    "rotation": {
                        "roll": -0.0008239634335041046,
                        "pitch": -0.886408269405365,
                        "yaw": -85.79271697998047
                    }
                },
                "velocity": {
                    "x": 0.10956001281738281,
                    "y": -1.2852063179016113,
                    "z": -0.022445039823651314
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3744,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.384521484375,
                        "y": 5136.1474609375,
                        "z": 378.2273254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5156519412994385,
                        "yaw": -88.94320678710938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.97809600830078,
                "transform": {
                    "location": {
                        "x": -2483.286376953125,
                        "y": 4911.1494140625,
                        "z": 375.40167236328125
                    },
                    "rotation": {
                        "roll": 0.20209072530269623,
                        "pitch": -1.7484463453292847,
                        "yaw": -86.29232025146484
                    }
                },
                "velocity": {
                    "x": 1.126638412475586,
                    "y": -16.93829917907715,
                    "z": -0.28366872668266296
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0020601849537342787,
                "transform": {
                    "location": {
                        "x": -2483.0087890625,
                        "y": 4905.26123046875,
                        "z": 375.3035583496094
                    },
                    "rotation": {
                        "roll": 0.0017288783565163612,
                        "pitch": -0.9813205599784851,
                        "yaw": -86.64220428466797
                    }
                },
                "velocity": {
                    "x": 0.00012672628508880734,
                    "y": -8.043929847190157e-05,
                    "z": 0.0020547097083181143
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3742,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.02978515625,
                        "y": 5204.0068359375,
                        "z": 378.6040954589844
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.184326171875,
                        "y": 5112.9462890625,
                        "z": 377.9793395996094
                    },
                    "rotation": {
                        "roll": 2.6682497988872456e-08,
                        "pitch": -0.7144514322280884,
                        "yaw": -87.51079559326172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.24847276508808136,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            12.969796833304326,
            0.8067221478429616
        ],
        "target_point_next": [
            62.33921587544275,
            10.300755209925583
        ]
    },
    "535": {
        "acceleration": [
            3.76953125,
            -1.5814590454101562,
            -0.03380298614501953
        ],
        "angular_velocity": [
            0.5480814576148987,
            -1.1961781978607178,
            9.550087928771973
        ],
        "forward_vector": [
            0.3978044390678406,
            -0.9174690246582031,
            0.0015245669055730104
        ],
        "right_vector": [
            0.9173930883407593,
            0.3977919816970825,
            0.012307205237448215
        ],
        "location": [
            -2472.700927734375,
            4963.72607421875,
            376.24212646484375
        ],
        "rotation": [
            -0.7051695585250854,
            0.08735128492116928,
            -66.55897521972656
        ],
        "velocity": [
            8.392244338989258,
            -19.756486892700195,
            -0.09641239792108536
        ],
        "speed": 21.46505391064117,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4526445978271583,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 44.27313232421875,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2450.99755859375,
                4925.13818359375,
                376.0217590332031
            ],
            "velocity": [
                1.0953289270401,
                -1.3952547311782837,
                -0.009515924379229546
            ],
            "speed_kmh": 6.3858883656304855,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.060546875,
                        "y": 5155.525390625,
                        "z": 378.3831481933594
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.99560546875,
                        "y": 5143.525390625,
                        "z": 378.2893371582031
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2430.742919921875,
                        "y": 4904.0205078125,
                        "z": 376.0629577636719
                    },
                    "rotation": {
                        "roll": 3.3350677774990345e-09,
                        "pitch": 0.17048151791095734,
                        "yaw": -36.12334442138672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.231689453125,
                        "y": 5079.9111328125,
                        "z": 377.5138244628906
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.591064453125,
                        "y": 5100.78662109375,
                        "z": 377.8143615722656
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.5126953125,
                        "y": 5121.736328125,
                        "z": 378.07958984375
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.858232498168945,
                "transform": {
                    "location": {
                        "x": -2493.425537109375,
                        "y": 5020.97314453125,
                        "z": 376.7667236328125
                    },
                    "rotation": {
                        "roll": -0.029602032154798508,
                        "pitch": -0.5532179474830627,
                        "yaw": -82.26152038574219
                    }
                },
                "velocity": {
                    "x": 1.9917761087417603,
                    "y": -14.723251342773438,
                    "z": -0.16047319769859314
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.47998046875,
                        "y": 5083.009765625,
                        "z": 377.5647277832031
                    },
                    "rotation": {
                        "roll": 2.668304333042215e-08,
                        "pitch": -0.8024652004241943,
                        "yaw": -85.79193115234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04541015625,
                        "y": 5179.5068359375,
                        "z": 378.515380859375
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3743,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.66748046875,
                        "y": 5126.69677734375,
                        "z": 378.1355895996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3745,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.021484375,
                        "y": 5217.00537109375,
                        "z": 378.70367431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1530713587999344,
                        "yaw": -90.03719329833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.619173049926758,
                "transform": {
                    "location": {
                        "x": -2480.29443359375,
                        "y": 4952.86376953125,
                        "z": 376.0248718261719
                    },
                    "rotation": {
                        "roll": -0.010620125569403172,
                        "pitch": -0.7846657633781433,
                        "yaw": -83.11071014404297
                    }
                },
                "velocity": {
                    "x": 1.1216628551483154,
                    "y": -9.552640914916992,
                    "z": -0.13199663162231445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.0601806640625,
                "transform": {
                    "location": {
                        "x": -2482.940673828125,
                        "y": 4972.9404296875,
                        "z": 376.2642822265625
                    },
                    "rotation": {
                        "roll": 0.0008031611214391887,
                        "pitch": -0.662261962890625,
                        "yaw": -81.82498168945312
                    }
                },
                "velocity": {
                    "x": 1.286717176437378,
                    "y": -8.967743873596191,
                    "z": -0.10395399481058121
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.123689651489258,
                "transform": {
                    "location": {
                        "x": -2487.713134765625,
                        "y": 5005.1240234375,
                        "z": 376.591552734375
                    },
                    "rotation": {
                        "roll": 7.31876352801919e-05,
                        "pitch": -0.5381437540054321,
                        "yaw": -81.57083892822266
                    }
                },
                "velocity": {
                    "x": 1.338281512260437,
                    "y": -9.024592399597168,
                    "z": -0.08629882335662842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.236136436462402,
                "transform": {
                    "location": {
                        "x": -2490.345947265625,
                        "y": 5023.67724609375,
                        "z": 376.7834777832031
                    },
                    "rotation": {
                        "roll": -0.030151374638080597,
                        "pitch": -0.4852644205093384,
                        "yaw": -82.42729187011719
                    }
                },
                "velocity": {
                    "x": 1.2235499620437622,
                    "y": -9.154151916503906,
                    "z": -0.10315236449241638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.72265625,
                        "y": 5042.79248046875,
                        "z": 377.0209655761719
                    },
                    "rotation": {
                        "roll": -2.668251397608401e-08,
                        "pitch": -0.717101514339447,
                        "yaw": -83.50007629394531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.5263671875,
                        "y": 5060.02685546875,
                        "z": 377.2426452636719
                    },
                    "rotation": {
                        "roll": 2.6682641873776447e-08,
                        "pitch": -0.7387053966522217,
                        "yaw": -84.35952758789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.773857831954956,
                "transform": {
                    "location": {
                        "x": -2450.99755859375,
                        "y": 4925.13818359375,
                        "z": 376.0217590332031
                    },
                    "rotation": {
                        "roll": -0.009063728153705597,
                        "pitch": -0.27920445799827576,
                        "yaw": -52.54002380371094
                    }
                },
                "velocity": {
                    "x": 1.0953289270401,
                    "y": -1.3952547311782837,
                    "z": -0.009515924379229546
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.223388671875,
                        "y": 5067.27392578125,
                        "z": 377.3476867675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7642229795455933,
                        "yaw": -84.93248748779297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.3407564163208,
                "transform": {
                    "location": {
                        "x": -2490.138916015625,
                        "y": 4998.302734375,
                        "z": 376.54302978515625
                    },
                    "rotation": {
                        "roll": -0.00308226328343153,
                        "pitch": -0.7641273736953735,
                        "yaw": -81.47566223144531
                    }
                },
                "velocity": {
                    "x": 2.12160325050354,
                    "y": -14.18231201171875,
                    "z": -0.13457749783992767
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.464180946350098,
                "transform": {
                    "location": {
                        "x": -2484.72314453125,
                        "y": 4960.92041015625,
                        "z": 376.1243591308594
                    },
                    "rotation": {
                        "roll": 0.016283808276057243,
                        "pitch": -0.8161938786506653,
                        "yaw": -82.62162780761719
                    }
                },
                "velocity": {
                    "x": 1.6997618675231934,
                    "y": -13.355351448059082,
                    "z": -0.17197829484939575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.502683639526367,
                "transform": {
                    "location": {
                        "x": -2481.810791015625,
                        "y": 4935.3779296875,
                        "z": 375.7795104980469
                    },
                    "rotation": {
                        "roll": -0.013732963241636753,
                        "pitch": -0.6344903707504272,
                        "yaw": -84.42143249511719
                    }
                },
                "velocity": {
                    "x": 1.1052054166793823,
                    "y": -11.448234558105469,
                    "z": -0.1678125560283661
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.499990463256836,
                "transform": {
                    "location": {
                        "x": -2480.13525390625,
                        "y": 4914.798828125,
                        "z": 375.4471740722656
                    },
                    "rotation": {
                        "roll": -0.0019531745929270983,
                        "pitch": -0.8615736961364746,
                        "yaw": -85.80581665039062
                    }
                },
                "velocity": {
                    "x": 0.20637425780296326,
                    "y": -2.491118907928467,
                    "z": -0.04108951613306999
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3744,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.20068359375,
                        "y": 5128.083984375,
                        "z": 378.1482238769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.595148503780365,
                        "yaw": -88.37022399902344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.04495978355407715,
                "transform": {
                    "location": {
                        "x": -2483.1865234375,
                        "y": 4910.0458984375,
                        "z": 375.37823486328125
                    },
                    "rotation": {
                        "roll": 0.5287337899208069,
                        "pitch": 2.455118179321289,
                        "yaw": -85.08880615234375
                    }
                },
                "velocity": {
                    "x": -0.008553178049623966,
                    "y": -0.022338485345244408,
                    "z": -0.03806858882308006
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.19217875599861145,
                "transform": {
                    "location": {
                        "x": -2483.01904296875,
                        "y": 4905.2353515625,
                        "z": 375.3354187011719
                    },
                    "rotation": {
                        "roll": -0.24707061052322388,
                        "pitch": -3.6578667163848877,
                        "yaw": -86.75343322753906
                    }
                },
                "velocity": {
                    "x": -0.015506911091506481,
                    "y": 0.08001700043678284,
                    "z": -0.17403875291347504
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3742,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.031494140625,
                        "y": 5201.5068359375,
                        "z": 378.5960998535156
                    },
                    "rotation": {
                        "roll": 1.3340285320850853e-08,
                        "pitch": -0.1890527904033661,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.09619140625,
                        "y": 5110.8642578125,
                        "z": 377.95361328125
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39386799931526184,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            7.713122624755398,
            0.49685431468780106
        ],
        "target_point_next": [
            57.37067475304136,
            8.34565785209017
        ]
    },
    "540": {
        "acceleration": [
            4.5855712890625,
            -1.067962646484375,
            -0.03104686737060547
        ],
        "angular_velocity": [
            0.5683866739273071,
            -1.1170613765716553,
            10.629508972167969
        ],
        "forward_vector": [
            0.4384174346923828,
            -0.8987703919410706,
            0.0014027351280674338
        ],
        "right_vector": [
            0.898612916469574,
            0.43836888670921326,
            0.018097834661602974
        ],
        "location": [
            -2470.47314453125,
            4958.74072265625,
            376.21685791015625
        ],
        "rotation": [
            -1.0369871854782104,
            0.08037082850933075,
            -63.99702453613281
        ],
        "velocity": [
            9.465624809265137,
            -20.07298469543457,
            -0.10417471826076508
        ],
        "speed": 22.192853976289893,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.446311391569376,
            "is_junction": true
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 39.39061737060547,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2450.655029296875,
                4924.69921875,
                376.0187683105469
            ],
            "velocity": [
                1.625914454460144,
                -2.0689198970794678,
                -0.014496879652142525
            ],
            "speed_kmh": 9.47302054109581,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3739,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.05810546875,
                        "y": 5153.10595703125,
                        "z": 378.36541748046875
                    },
                    "rotation": {
                        "roll": 1.3340597071476168e-08,
                        "pitch": -0.43524011969566345,
                        "yaw": -89.80264282226562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3737,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.968017578125,
                        "y": 5141.10595703125,
                        "z": 378.2693176269531
                    },
                    "rotation": {
                        "roll": -2.6681346909640524e-08,
                        "pitch": -0.47589340806007385,
                        "yaw": -89.22966003417969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2425.699951171875,
                        "y": 4900.330078125,
                        "z": 376.0818176269531
                    },
                    "rotation": {
                        "roll": 3.3350677774990345e-09,
                        "pitch": 0.17048151791095734,
                        "yaw": -33.35991287231445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3729,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2496.058837890625,
                        "y": 5077.6328125,
                        "z": 377.4817810058594
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3730,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2497.465087890625,
                        "y": 5098.52099609375,
                        "z": 377.7818908691406
                    },
                    "rotation": {
                        "roll": 2.6683217413392413e-08,
                        "pitch": -0.8287614583969116,
                        "yaw": -86.6513671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3731,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2498.4306640625,
                        "y": 5119.43115234375,
                        "z": 378.05316162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.674686074256897,
                        "yaw": -87.79727172851562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3736,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.785690307617188,
                "transform": {
                    "location": {
                        "x": -2492.93798828125,
                        "y": 5017.41845703125,
                        "z": 376.73077392578125
                    },
                    "rotation": {
                        "roll": -0.03836056962609291,
                        "pitch": -0.8423193693161011,
                        "yaw": -82.01360321044922
                    }
                },
                "velocity": {
                    "x": 1.9026763439178467,
                    "y": -13.65299129486084,
                    "z": -0.14456887543201447
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3738,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2503.329833984375,
                        "y": 5080.931640625,
                        "z": 377.5353698730469
                    },
                    "rotation": {
                        "roll": -2.66829598416507e-08,
                        "pitch": -0.7896996140480042,
                        "yaw": -85.50546264648438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3740,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.04736328125,
                        "y": 5177.0068359375,
                        "z": 378.5051574707031
                    },
                    "rotation": {
                        "roll": -1.3340341276091294e-08,
                        "pitch": -0.2521364092826843,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3743,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.6044921875,
                        "y": 5124.6162109375,
                        "z": 378.11328125
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3745,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.022705078125,
                        "y": 5214.5068359375,
                        "z": 378.6490783691406
                    },
                    "rotation": {
                        "roll": -6.6701342227304394e-09,
                        "pitch": -0.16506516933441162,
                        "yaw": -90.03717803955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3717,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.618758201599121,
                "transform": {
                    "location": {
                        "x": -2480.015625,
                        "y": 4950.4755859375,
                        "z": 375.99163818359375
                    },
                    "rotation": {
                        "roll": -0.00509642856195569,
                        "pitch": -0.7975748181343079,
                        "yaw": -83.37413787841797
                    }
                },
                "velocity": {
                    "x": 1.1000643968582153,
                    "y": -9.554696083068848,
                    "z": -0.134682759642601
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3716,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.384369850158691,
                "transform": {
                    "location": {
                        "x": -2482.615966796875,
                        "y": 4970.65625,
                        "z": 376.2375793457031
                    },
                    "rotation": {
                        "roll": 0.005747615359723568,
                        "pitch": -0.6630883812904358,
                        "yaw": -81.96421813964844
                    }
                },
                "velocity": {
                    "x": 1.2929556369781494,
                    "y": -9.294244766235352,
                    "z": -0.10807716101408005
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.816235542297363,
                "transform": {
                    "location": {
                        "x": -2487.385498046875,
                        "y": 5002.91650390625,
                        "z": 376.5707092285156
                    },
                    "rotation": {
                        "roll": -0.0005188240902498364,
                        "pitch": -0.5422965288162231,
                        "yaw": -81.5481948852539
                    }
                },
                "velocity": {
                    "x": 1.2964141368865967,
                    "y": -8.719998359680176,
                    "z": -0.08336005359888077
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.641348838806152,
                "transform": {
                    "location": {
                        "x": -2490.04736328125,
                        "y": 5021.44873046875,
                        "z": 376.7595520019531
                    },
                    "rotation": {
                        "roll": -0.016082709655165672,
                        "pitch": -0.7045544385910034,
                        "yaw": -82.35936737060547
                    }
                },
                "velocity": {
                    "x": 1.1488662958145142,
                    "y": -8.56412124633789,
                    "z": -0.09402623772621155
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3713,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2492.461669921875,
                        "y": 5040.54052734375,
                        "z": 376.9923400878906
                    },
                    "rotation": {
                        "roll": 2.668248910708826e-08,
                        "pitch": -0.7126755714416504,
                        "yaw": -83.213623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3728,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2494.307373046875,
                        "y": 5057.751953125,
                        "z": 377.2126770019531
                    },
                    "rotation": {
                        "roll": 2.6682641873776447e-08,
                        "pitch": -0.7387053966522217,
                        "yaw": -84.35952758789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.631394624710083,
                "transform": {
                    "location": {
                        "x": -2450.655029296875,
                        "y": 4924.69921875,
                        "z": 376.0187683105469
                    },
                    "rotation": {
                        "roll": -0.008209225721657276,
                        "pitch": -0.2806934416294098,
                        "yaw": -52.35021209716797
                    }
                },
                "velocity": {
                    "x": 1.625914454460144,
                    "y": -2.0689198970794678,
                    "z": -0.014496879652142525
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3734,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2502.037109375,
                        "y": 5065.19775390625,
                        "z": 377.31988525390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7514641880989075,
                        "yaw": -84.64602661132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3735,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.029895782470703,
                "transform": {
                    "location": {
                        "x": -2489.638916015625,
                        "y": 4994.96142578125,
                        "z": 376.5123291015625
                    },
                    "rotation": {
                        "roll": 0.0002963473671115935,
                        "pitch": -0.8751521110534668,
                        "yaw": -81.50212860107422
                    }
                },
                "velocity": {
                    "x": 1.9248210191726685,
                    "y": -12.886357307434082,
                    "z": -0.1225949078798294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.669525146484375,
                "transform": {
                    "location": {
                        "x": -2484.331298828125,
                        "y": 4957.80322265625,
                        "z": 376.0838317871094
                    },
                    "rotation": {
                        "roll": 0.00863411370664835,
                        "pitch": -0.8583019971847534,
                        "yaw": -82.96104431152344
                    }
                },
                "velocity": {
                    "x": 1.4578182697296143,
                    "y": -11.577066421508789,
                    "z": -0.15530113875865936
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3706,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.868905067443848,
                "transform": {
                    "location": {
                        "x": -2481.556884765625,
                        "y": 4932.73291015625,
                        "z": 375.74078369140625
                    },
                    "rotation": {
                        "roll": -0.010345419868826866,
                        "pitch": -0.6781967878341675,
                        "yaw": -84.56066131591797
                    }
                },
                "velocity": {
                    "x": 0.9105377197265625,
                    "y": -9.825704574584961,
                    "z": -0.14745202660560608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3705,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.838191509246826,
                "transform": {
                    "location": {
                        "x": -2480.070556640625,
                        "y": 4914.00390625,
                        "z": 375.4340515136719
                    },
                    "rotation": {
                        "roll": -0.007385265082120895,
                        "pitch": -0.8521685004234314,
                        "yaw": -85.62456512451172
                    }
                },
                "velocity": {
                    "x": 0.3215675950050354,
                    "y": -3.8242034912109375,
                    "z": -0.06144803762435913
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3744,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2501.961669921875,
                        "y": 5120.154296875,
                        "z": 378.0633850097656
                    },
                    "rotation": {
                        "roll": -2.6682062781446803e-08,
                        "pitch": -0.6349138617515564,
                        "yaw": -88.08377075195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.007908073253929615,
                "transform": {
                    "location": {
                        "x": -2483.18603515625,
                        "y": 4910.05224609375,
                        "z": 375.37518310546875
                    },
                    "rotation": {
                        "roll": 0.3286530673503876,
                        "pitch": 1.4402204751968384,
                        "yaw": -85.09719848632812
                    }
                },
                "velocity": {
                    "x": -0.0004925310495309532,
                    "y": 0.000910325616132468,
                    "z": -0.007840047590434551
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3702,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.01892971619963646,
                "transform": {
                    "location": {
                        "x": -2483.019287109375,
                        "y": 4905.22509765625,
                        "z": 375.301513671875
                    },
                    "rotation": {
                        "roll": -0.03320305794477463,
                        "pitch": -1.7830822467803955,
                        "yaw": -86.77184295654297
                    }
                },
                "velocity": {
                    "x": -0.002704643877223134,
                    "y": -0.0006983511266298592,
                    "z": -0.01872248202562332
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3742,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2499.032958984375,
                        "y": 5199.0068359375,
                        "z": 378.5875549316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2010534405708313,
                        "yaw": -90.03720092773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3741,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2505.0009765625,
                        "y": 5108.7841796875,
                        "z": 377.9268798828125
                    },
                    "rotation": {
                        "roll": 2.6682737797045775e-08,
                        "pitch": -0.7542099356651306,
                        "yaw": -87.2243423461914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9464135766029358,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            52.22898793438256,
            5.956274260534279
        ],
        "target_point_next": [
            52.22898793438256,
            5.956274260534279
        ]
    },
    "545": {
        "acceleration": [
            4.588718414306641,
            -0.9276962280273438,
            -0.01300916075706482
        ],
        "angular_velocity": [
            0.21053241193294525,
            -0.4129711091518402,
            9.318329811096191
        ],
        "forward_vector": [
            0.4776923358440399,
            -0.8785262107849121,
            0.0013386006467044353
        ],
        "right_vector": [
            0.8783015608787537,
            0.47760361433029175,
            0.02193627692759037
        ],
        "location": [
            -2467.96240234375,
            4953.6884765625,
            376.1902160644531
        ],
        "rotation": [
            -1.2569581270217896,
            0.07669618725776672,
            -61.46518325805664
        ],
        "velocity": [
            10.629343032836914,
            -20.30942153930664,
            -0.10963555425405502
        ],
        "speed": 22.92281694231691,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4394350483006737,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 34.508174896240234,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2450.1923828125,
                4924.10791015625,
                376.01495361328125
            ],
            "velocity": [
                2.0731608867645264,
                -2.635080575942993,
                -0.017478255555033684
            ],
            "speed_kmh": 12.07044686282463,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2421.286376953125,
                        "y": 4897.46630859375,
                        "z": 376.09771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17048151791095734,
                        "yaw": -30.596323013305664
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3529019355773926,
                "transform": {
                    "location": {
                        "x": -2450.1923828125,
                        "y": 4924.10791015625,
                        "z": 376.01495361328125
                    },
                    "rotation": {
                        "roll": -0.007781980559229851,
                        "pitch": -0.28176578879356384,
                        "yaw": -52.15846252441406
                    }
                },
                "velocity": {
                    "x": 2.0731608867645264,
                    "y": -2.635080575942993,
                    "z": -0.017478255555033684
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9986555576324463,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            46.803221191455116,
            3.85093956600965
        ],
        "target_point_next": [
            46.803221191455116,
            3.85093956600965
        ]
    },
    "550": {
        "acceleration": [
            4.0042877197265625,
            -0.9783172607421875,
            -0.026686638593673706
        ],
        "angular_velocity": [
            -0.14944446086883545,
            0.3551013469696045,
            6.177780628204346
        ],
        "forward_vector": [
            0.5061566233634949,
            -0.8624406456947327,
            0.0012241597287356853
        ],
        "right_vector": [
            0.8622269034385681,
            0.5060617923736572,
            0.02159174717962742
        ],
        "location": [
            -2465.170166015625,
            4948.57470703125,
            376.1619873046875
        ],
        "rotation": [
            -1.237213134765625,
            0.07013920694589615,
            -59.59181213378906
        ],
        "velocity": [
            11.691357612609863,
            -20.562475204467773,
            -0.11547811329364777
        ],
        "speed": 23.653820608102247,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.432083909376573,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.619022369384766,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2449.61328125,
                4923.37060546875,
                376.01007080078125
            ],
            "velocity": [
                2.5400002002716064,
                -3.225710391998291,
                -0.019726380705833435
            ],
            "speed_kmh": 14.780706408678725,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2417.7548828125,
                        "y": 4895.41845703125,
                        "z": 376.11248779296875
                    },
                    "rotation": {
                        "roll": 6.670193730684559e-09,
                        "pitch": 0.2935205399990082,
                        "yaw": -27.832569122314453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.1057515144348145,
                "transform": {
                    "location": {
                        "x": -2449.61328125,
                        "y": 4923.37060546875,
                        "z": 376.01007080078125
                    },
                    "rotation": {
                        "roll": -0.005340591073036194,
                        "pitch": -0.2801811695098877,
                        "yaw": -52.0013313293457
                    }
                },
                "velocity": {
                    "x": 2.5400002002716064,
                    "y": -3.225710391998291,
                    "z": -0.019726380705833435
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9993852972984314,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            41.08045787098676,
            2.4991070298872415
        ],
        "target_point_next": [
            41.08045787098676,
            2.4991070298872415
        ]
    },
    "555": {
        "acceleration": [
            -0.5080795288085938,
            3.9223098754882812,
            0.007275044918060303
        ],
        "angular_velocity": [
            0.859096109867096,
            2.166726589202881,
            2.6302170753479004
        ],
        "forward_vector": [
            0.5232674479484558,
            -0.8521652221679688,
            -0.0023558116517961025
        ],
        "right_vector": [
            0.8520562648773193,
            0.5231517553329468,
            0.01767602749168873
        ],
        "location": [
            -2462.170166015625,
            4943.4482421875,
            376.13330078125
        ],
        "rotation": [
            -1.0128173828125,
            -0.13497819006443024,
            -58.448219299316406
        ],
        "velocity": [
            12.119956016540527,
            -20.20014762878418,
            -0.11858499050140381
        ],
        "speed": 23.557149616784116,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4244205213560597,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 24.79900550842285,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2448.91748046875,
                4922.48779296875,
                376.0046691894531
            ],
            "velocity": [
                3.0737950801849365,
                -3.769514322280884,
                -0.021787332370877266
            ],
            "speed_kmh": 17.51019021166742,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2413.219482421875,
                        "y": 4893.021484375,
                        "z": 376.1395568847656
                    },
                    "rotation": {
                        "roll": 1.334059263058407e-08,
                        "pitch": 0.4326651394367218,
                        "yaw": -25.06873321533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.863941669464111,
                "transform": {
                    "location": {
                        "x": -2448.91748046875,
                        "y": 4922.48779296875,
                        "z": 376.0046691894531
                    },
                    "rotation": {
                        "roll": -0.00689698476344347,
                        "pitch": -0.25488215684890747,
                        "yaw": -51.79963684082031
                    }
                },
                "velocity": {
                    "x": 3.0737950801849365,
                    "y": -3.769514322280884,
                    "z": -0.021787332370877266
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.000353217124939,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            35.1837386221532,
            1.804737727491247
        ],
        "target_point_next": [
            35.1837386221532,
            1.804737727491247
        ]
    },
    "560": {
        "acceleration": [
            -2.3823165893554688,
            4.8810577392578125,
            0.03596886992454529
        ],
        "angular_velocity": [
            0.2967480421066284,
            2.020052909851074,
            -0.18917158246040344
        ],
        "forward_vector": [
            0.5264516472816467,
            -0.8501449227333069,
            -0.010113424621522427
        ],
        "right_vector": [
            0.8501957058906555,
            0.5263527631759644,
            0.01095812488347292
        ],
        "location": [
            -2459.19873046875,
            4938.55224609375,
            376.1056213378906
        ],
        "rotation": [
            -0.6278990507125854,
            -0.5794664025306702,
            -58.23216247558594
        ],
        "velocity": [
            11.661125183105469,
            -19.00990867614746,
            -0.11513831466436386
        ],
        "speed": 22.30153511333969,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4167580676253713,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 20.358633041381836,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2448.09765625,
                4921.48681640625,
                375.9999084472656
            ],
            "velocity": [
                3.4504785537719727,
                -4.141186237335205,
                -0.017226142808794975
            ],
            "speed_kmh": 19.40514289699018,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 18.528837203979492,
                "transform": {
                    "location": {
                        "x": -2408.520751953125,
                        "y": 4890.83154296875,
                        "z": 376.1910095214844
                    },
                    "rotation": {
                        "roll": -0.1019287034869194,
                        "pitch": 0.34479475021362305,
                        "yaw": -21.974807739257812
                    }
                },
                "velocity": {
                    "x": 16.873456954956055,
                    "y": -7.650229454040527,
                    "z": 0.2796937823295593
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3746,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.454817295074463,
                "transform": {
                    "location": {
                        "x": -2468.623291015625,
                        "y": 4955.68505859375,
                        "z": 376.2873229980469
                    },
                    "rotation": {
                        "roll": 1.3340359039659688e-08,
                        "pitch": -0.2676682770252228,
                        "yaw": -64.5237808227539
                    }
                },
                "velocity": {
                    "x": 2.0913989543914795,
                    "y": -4.389391899108887,
                    "z": -2.4727156162261963
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.390317440032959,
                "transform": {
                    "location": {
                        "x": -2448.09765625,
                        "y": 4921.48681640625,
                        "z": 375.9999084472656
                    },
                    "rotation": {
                        "roll": -0.007904052734375,
                        "pitch": -0.18964019417762756,
                        "yaw": -50.9533805847168
                    }
                },
                "velocity": {
                    "x": 3.4504785537719727,
                    "y": -4.141186237335205,
                    "z": -0.017226142808794975
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9972244501113892,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            29.46337788967235,
            1.723403198095129
        ],
        "target_point_next": [
            29.46337788967235,
            1.723403198095129
        ]
    },
    "565": {
        "acceleration": [
            -5.26885986328125,
            8.051261901855469,
            0.050516724586486816
        ],
        "angular_velocity": [
            0.8008334636688232,
            2.004835605621338,
            -1.7790433168411255
        ],
        "forward_vector": [
            0.5220330357551575,
            -0.8527916669845581,
            -0.015097877942025661
        ],
        "right_vector": [
            0.8529150485992432,
            0.5220316052436829,
            0.004347900860011578
        ],
        "location": [
            -2456.385498046875,
            4933.9658203125,
            376.078857421875
        ],
        "rotation": [
            -0.2491455227136612,
            -0.865077555179596,
            -58.527286529541016
        ],
        "velocity": [
            10.74946117401123,
            -17.539255142211914,
            -0.10698176920413971
        ],
        "speed": 20.57125145622361,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.4093972142318703,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.436941146850586,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2447.162841796875,
                4920.3603515625,
                375.995849609375
            ],
            "velocity": [
                3.960792064666748,
                -4.730748653411865,
                -0.008995532989501953
            ],
            "speed_kmh": 22.21171921015686,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.955726623535156,
                "transform": {
                    "location": {
                        "x": -2404.565185546875,
                        "y": 4889.1796875,
                        "z": 376.2529602050781
                    },
                    "rotation": {
                        "roll": -0.3357848525047302,
                        "pitch": 0.4696096181869507,
                        "yaw": -19.643400192260742
                    }
                },
                "velocity": {
                    "x": 15.906914710998535,
                    "y": -5.866305351257324,
                    "z": 0.2305852621793747
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3746,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.756061553955078,
                "transform": {
                    "location": {
                        "x": -2468.088623046875,
                        "y": 4954.6240234375,
                        "z": 376.1633605957031
                    },
                    "rotation": {
                        "roll": -0.037475597113370895,
                        "pitch": -0.28207314014434814,
                        "yaw": -63.654335021972656
                    }
                },
                "velocity": {
                    "x": 2.1604034900665283,
                    "y": -4.2350287437438965,
                    "z": 0.13156510889530182
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.169921875,
                "transform": {
                    "location": {
                        "x": -2447.162841796875,
                        "y": 4920.3603515625,
                        "z": 375.995849609375
                    },
                    "rotation": {
                        "roll": -0.0046691857278347015,
                        "pitch": -0.06604109704494476,
                        "yaw": -50.40836715698242
                    }
                },
                "velocity": {
                    "x": 3.960792064666748,
                    "y": -4.730748653411865,
                    "z": -0.008995532989501953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0000369548797607,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            24.073630593237443,
            1.8703094671910474
        ],
        "target_point_next": [
            24.073630593237443,
            1.8703094671910474
        ]
    },
    "570": {
        "acceleration": [
            -4.1249847412109375,
            6.583232879638672,
            0.039021074771881104
        ],
        "angular_velocity": [
            0.07137969136238098,
            0.5212860107421875,
            -0.21746578812599182
        ],
        "forward_vector": [
            0.5169951915740967,
            -0.855773389339447,
            -0.019178884103894234
        ],
        "right_vector": [
            0.8559355735778809,
            0.517082154750824,
            0.0004936586483381689
        ],
        "location": [
            -2453.85205078125,
            4929.81201171875,
            376.0544738769531
        ],
        "rotation": [
            -0.028289761394262314,
            -1.0989364385604858,
            -58.86272430419922
        ],
        "velocity": [
            9.619759559631348,
            -15.813897132873535,
            -0.0965162143111229
        ],
        "speed": 18.509973433644483,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.402719592032831,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.24140739440918,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2446.09326171875,
                4919.08203125,
                375.99468994140625
            ],
            "velocity": [
                4.6664533615112305,
                -5.551952362060547,
                0.007239112630486488
            ],
            "speed_kmh": 26.10931226133869,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.34792137145996,
                "transform": {
                    "location": {
                        "x": -2400.60498046875,
                        "y": 4887.8193359375,
                        "z": 376.3081970214844
                    },
                    "rotation": {
                        "roll": -0.312957763671875,
                        "pitch": 0.6880937218666077,
                        "yaw": -17.090896606445312
                    }
                },
                "velocity": {
                    "x": 15.635828971862793,
                    "y": -4.766846656799316,
                    "z": 0.22921150922775269
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3746,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.4763031005859375,
                "transform": {
                    "location": {
                        "x": -2467.560546875,
                        "y": 4953.5966796875,
                        "z": 376.1854248046875
                    },
                    "rotation": {
                        "roll": -0.020172124728560448,
                        "pitch": -0.3184507191181183,
                        "yaw": -63.09534454345703
                    }
                },
                "velocity": {
                    "x": 2.0532474517822266,
                    "y": -3.977461814880371,
                    "z": 0.035533782094717026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.252586841583252,
                "transform": {
                    "location": {
                        "x": -2446.09326171875,
                        "y": 4919.08203125,
                        "z": 375.99468994140625
                    },
                    "rotation": {
                        "roll": -0.0031433107797056437,
                        "pitch": 0.08245404064655304,
                        "yaw": -50.093360900878906
                    }
                },
                "velocity": {
                    "x": 4.6664533615112305,
                    "y": -5.551952362060547,
                    "z": 0.007239112630486488
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0007268190383911,
        "expert_target_speed": 10.0,
        "target_point": [
            19.196875062768903,
            1.9906459964145231
        ],
        "target_point_next": [
            19.196875062768903,
            1.9906459964145231
        ]
    },
    "575": {
        "acceleration": [
            -3.2460975646972656,
            6.6228485107421875,
            0.059432387351989746
        ],
        "angular_velocity": [
            0.2037946730852127,
            -0.454141229391098,
            3.4205257892608643
        ],
        "forward_vector": [
            0.5239294171333313,
            -0.8515368700027466,
            -0.019566001370549202
        ],
        "right_vector": [
            0.8517130613327026,
            0.524006724357605,
            0.0013520930660888553
        ],
        "location": [
            -2451.56787109375,
            4926.072265625,
            376.03167724609375
        ],
        "rotation": [
            -0.07748408615589142,
            -1.121120810508728,
            -58.39704895019531
        ],
        "velocity": [
            8.73127269744873,
            -14.164071083068848,
            -0.08713088184595108
        ],
        "speed": 16.63899133251294,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.396548567330536,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.79955768585205,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2444.840576171875,
                4917.6240234375,
                375.9977111816406
            ],
            "velocity": [
                5.363170146942139,
                -6.0229973793029785,
                0.02194243296980858
            ],
            "speed_kmh": 29.03318489466019,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.364934921264648,
                "transform": {
                    "location": {
                        "x": -2396.808349609375,
                        "y": 4886.6953125,
                        "z": 376.3663635253906
                    },
                    "rotation": {
                        "roll": -0.1728820651769638,
                        "pitch": 0.7902118563652039,
                        "yaw": -15.29961109161377
                    }
                },
                "velocity": {
                    "x": 14.79443073272705,
                    "y": -4.140949726104736,
                    "z": 0.24206314980983734
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3746,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2749409675598145,
                "transform": {
                    "location": {
                        "x": -2466.9892578125,
                        "y": 4952.4951171875,
                        "z": 376.18658447265625
                    },
                    "rotation": {
                        "roll": -0.01391601376235485,
                        "pitch": -0.19012513756752014,
                        "yaw": -62.74226379394531
                    }
                },
                "velocity": {
                    "x": 2.4334475994110107,
                    "y": -4.680070877075195,
                    "z": -0.016465358436107635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.064773559570312,
                "transform": {
                    "location": {
                        "x": -2444.840576171875,
                        "y": 4917.6240234375,
                        "z": 375.9977111816406
                    },
                    "rotation": {
                        "roll": -0.015289311297237873,
                        "pitch": 0.19231079518795013,
                        "yaw": -49.10164260864258
                    }
                },
                "velocity": {
                    "x": 5.363170146942139,
                    "y": -6.0229973793029785,
                    "z": 0.02194243296980858
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9998930096626282,
        "expert_target_speed": 10.0,
        "target_point": [
            14.830300026101954,
            1.8488618154217429
        ],
        "target_point_next": [
            14.830300026101954,
            1.8488618154217429
        ]
    },
    "580": {
        "acceleration": [
            -1.6079330444335938,
            4.607429504394531,
            0.08972868323326111
        ],
        "angular_velocity": [
            -0.42460212111473083,
            -1.0595918893814087,
            4.176888465881348
        ],
        "forward_vector": [
            0.5385220050811768,
            -0.8424131870269775,
            -0.01827567256987095
        ],
        "right_vector": [
            0.8425864577293396,
            0.5385462045669556,
            0.003988736309111118
        ],
        "location": [
            -2449.478515625,
            4922.73193359375,
            376.0109558105469
        ],
        "rotation": [
            -0.22857654094696045,
            -1.0471771955490112,
            -57.410797119140625
        ],
        "velocity": [
            8.109193801879883,
            -12.71683120727539,
            -0.07465915381908417
        ],
        "speed": 15.082334702252844,
        "speed_limit": 80.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.3909571757836163,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.021658897399902,
        "front_vehicle_info": {
            "id": 3733,
            "type": "vehicle.ford.mustang",
            "location": [
                -2443.42529296875,
                4916.04248046875,
                376.00396728515625
            ],
            "velocity": [
                5.985215187072754,
                -6.556142807006836,
                0.028418168425559998
            ],
            "speed_kmh": 31.958312775569784,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 3732,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.373711585998535,
                "transform": {
                    "location": {
                        "x": -2393.216796875,
                        "y": 4885.75830078125,
                        "z": 376.4274597167969
                    },
                    "rotation": {
                        "roll": -0.1484069526195526,
                        "pitch": 0.8939487934112549,
                        "yaw": -13.704059600830078
                    }
                },
                "velocity": {
                    "x": 13.960993766784668,
                    "y": -3.4102120399475098,
                    "z": 0.2543562948703766
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3746,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.492802619934082,
                "transform": {
                    "location": {
                        "x": -2466.3603515625,
                        "y": 4951.29638671875,
                        "z": 376.1807861328125
                    },
                    "rotation": {
                        "roll": -0.017547588795423508,
                        "pitch": -0.2351975440979004,
                        "yaw": -62.3908576965332
                    }
                },
                "velocity": {
                    "x": 2.5609593391418457,
                    "y": -4.859189987182617,
                    "z": -0.025398334488272667
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3733,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.87730884552002,
                "transform": {
                    "location": {
                        "x": -2443.42529296875,
                        "y": 4916.04248046875,
                        "z": 376.00396728515625
                    },
                    "rotation": {
                        "roll": -0.010040280409157276,
                        "pitch": 0.2031366378068924,
                        "yaw": -47.88703536987305
                    }
                },
                "velocity": {
                    "x": 5.985215187072754,
                    "y": -6.556142807006836,
                    "z": 0.028418168425559998
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0005249977111816,
        "expert_target_speed": 9.204507949723913,
        "target_point": [
            10.920164415255101,
            1.6320708092906173
        ],
        "target_point_next": [
            10.920164415255101,
            1.6320708092906173
        ]
    }
}